Sarrafa Gudun Mota VHDL masu koyarwa Suna Yanke Jagora da Gudun Hagu da Mai Gudun Dama
NOTE: Wannan shafi ɗaya ne na babban gini. Da fatan za a tabbatar kun fara NAN, don haka ku fahimci inda waɗannan abubuwan suka dace cikin babban aikin
Ƙarsheview
Gudun mota da sarrafa kwatance ɗaya ne daga cikin manyan sassa guda biyu a cikin na'urar daukar hoto, ɗayan kuma shine na'urar gano hoto ko sashin gano haske. Yayin da sashin na'urar gano hoto ke mayar da hankali kan hangen nesa na mutum-mutumi, saurin motar da sashin sarrafa alkibla yana mai da hankali kan motsin na'urar. Gudun motsi da bayanan sarrafa jagora da aka bayar daga sashin photodetector kuma yana ba da fitowar jiki ta hanyar motsin motsi.
Manufar wannan rarrabuwa ita ce sarrafa gudu da alkiblar duka injin hagu da dama na robot mai neman haske. Don yanke shawarar waɗannan ƙimar, kuna buƙatar girman da matsayi na hasken da kamara ta kama kuma aka sarrafa ta hanyar ƙofa. Hakanan zaka buƙaci ma'aunin gudu akan kowane injin. Daga waɗannan abubuwan shigar, zaku iya fitar da ƙimar PWM (Pulse-Width Modulation) ga kowane injina.
Don cimma wannan, kuna buƙatar yin waɗannan samfuran VHDL (kuma an haɗa su a ƙasa):
- The iko
- Lissafin kuskure
- Canjin binary
- Rashin tushen haske
Kuna iya duba lambar VHDL don wannan rabo anan.
Kayayyaki
Muna ba da shawarar yin lamba tare da ISE Design Suite 14.7 kamar yadda kuma ana iya amfani dashi don gwada lambar a cikin VHDL. Koyaya, don loda lambar zuwa BASYS 3, kuna buƙatar shigar da Vivado (ver. 2015.4 ko 2016.4) kuma rubuta ƙuntatawa tare da tsawo na .xdc.
Ikon Gudun Mota na VHDL: Yanke Jagoranci da Gudun Gudun Hagu da Dama: Shafi 1
MATAKIN UMURNI
Mataki 1: Sarrafa
Don fahimtar yadda ake sarrafa halayen mutum-mutumi mai neman haske, za mu bayyana halin da mutum-mutumin ke so idan ya ga tushen haske. Za a sarrafa wannan hali gwargwadon matsayi da girman tushen hasken.
Algorithm ɗin da aka yi amfani da shi yana kwatankwacin na'urar sarrafa robobin RC, tare da lefa ɗaya wanda za'a iya juya hagu ko dama, da kuma wani lefa wanda za'a iya juya gaba ko baya.
Don neman haske, kuna son wannan mutum-mutumi ya motsa a cikin madaidaiciyar layi idan matsayin tushen hasken yana gaban robot. Don yin haka, kuna son gudu iri ɗaya akan duka motocin hagu da dama. Idan hasken yana gefen hagu na mutum-mutumi, kuna son motar da ta dace ta yi sauri fiye da na hagu don robobin ya juya zuwa hagu zuwa haske. Akasin haka, idan hasken ya kasance a gefen dama na mutum-mutumi, kuna son motar hagu ta yi sauri fiye da motar da ta dace ta yadda robot zai iya juya zuwa dama zuwa haske. Wannan yana kama da lever na hagu na mai sarrafa RC, inda zaku iya sarrafa ko kuna son matsar da mutum-mutumin hagu, dama, ko madaidaiciya.
Sannan, kuna son robot ɗin ya ci gaba idan tushen hasken yana da nisa (ƙananan tushen haske), ko kuma ya koma baya idan hasken da aka gano yana kusa (babban tushen haske). Hakanan kuna son cewa mafi nisa da mutum-mutumin ya kasance daga tushen hasken, da sauri robot ɗin ke motsawa. Wannan yana kwatankwacin lever na dama na mai sarrafa RC, inda zaku iya sarrafa ko kuna son ci gaba ko baya, da saurin yadda kuke son motsawa.
Sannan zaku iya samun dabarar lissafi don saurin kowane injin, kuma zamu zaɓi iyakar saurin tsakanin -255 zuwa 255. Ƙimar mara kyau tana nufin motar zata juya baya, yayin da ƙimar inganci tana nufin motar zata juya gaba.
Wannan shine ainihin algorithm don motsi na wannan mutum-mutumi. Don ƙarin koyo game da wannan ƙirar, danna nan.
Mataki 2: Lissafin Kuskuren
Tun da kun riga kun sami saurin buri da jagora don injinan, kuna kuma son yin la'akari da saurin aunawa da jagorar injinan. Idan ya kai ga maƙasudin saurin, muna son motar ta motsa a kan ƙarfinsa kawai. Idan ba haka ba, muna son ƙara ƙarin gudu zuwa motar. A cikin ka'idar Sarrafa, ana san wannan azaman tsarin kula da martani mai rufaffiyar.
Don ƙarin koyo game da wannan ƙirar, danna nan.
Mataki 3: Canjin Binary
Daga lissafin baya, kun riga kun san aikin da ake buƙata don kowane injin. Koyaya, ana yin lissafin ta amfani da binary sa hannu. Manufar wannan tsarin shine canza waɗannan dabi'u da aka sanya hannu zuwa ƙimar da janareta na PWM za ta iya karantawa, waɗanda sune alkibla (ko dai ta kusa da agogo ko gaba da agogo) da kuma gudun (daga tsakanin 0 zuwa 255). Har ila yau, tun lokacin da aka auna ra'ayoyin daga motar a cikin binary wanda ba a sanya hannu ba, ana buƙatar wani samfurin don canza dabi'un da ba a sanya hannu ba (hukunci da sauri) zuwa ƙimar da aka sanya hannu wanda za'a iya ƙididdige shi ta hanyar ƙirar lissafin kuskure. Don ƙarin koyo game da wannan ƙirar, danna nan.
Mataki 4: Rashin Tushen Haske
Ka yi mutum-mutumi wanda ke motsawa don neman haske lokacin da mutum-mutumi ya gano haske. Amma menene zai faru lokacin da mutum-mutumi bai gano haske ba? Manufar wannan ƙirar ita ce faɗakar da abin da za a yi idan irin wannan yanayin ya kasance.
Hanya mafi sauƙi zuwa da tushen haske don nema ita ce mutum-mutumi ya juya a wuri. Bayan yin jujjuyawa na tsawon daƙiƙa guda, idan har yanzu robot ɗin bai sami tushen haske ba, kuna son robot ɗin ya daina motsi, don adana wutar lantarki. Bayan wani saitin adadin daƙiƙa, robot ya kamata ya sake juyawa a wurin don neman hasken. Don ƙarin koyo game da wannan ƙirar, danna nan.
Mataki 5: Yadda Yana Aiki
Kuna iya duba hoton da ke sama don wannan bayanin. Kamar yadda aka ambata a farkon wannan koyaswar, kuna buƙatar abubuwan shigar da "girman" da "matsayi" daga sashin madaidaicin. Don tabbatar da cewa waɗannan abubuwan shigar suna aiki (misaliample, lokacin da ka karɓi girman = 0, girman gaske sifili ne saboda kamara ba ta gano haske ba, kuma ba don kyamarar tana fara farawa ba) Hakanan zaka buƙaci wani nau'in nuna alama, wanda muke kira "READY". Wadannan bayanan za a sarrafa su ta hanyar sarrafawa (Ctrl. vhd) don ƙayyade saurin burin kowane motar (9 ragi, sanya hannu).
Don ingantaccen fitarwa akan motar, kuna son amfani da martani a cikin tsarin rufaffiyar madauki. Wannan yana buƙatar abubuwan shigarwa"tushen" da "gudun" kowane motar daga sashin auna saurin motar. Tun da kuna son haɗa waɗannan abubuwan da aka shigar zuwa lissafin ku, dole ne ku canza waɗannan ƙimar da ba a sanya hannu ba zuwa binary 9-bit sa hannu. Ana yin wannan ta wanda ba a sanya hannu ba zuwa mai sauya ra'ayi na binary (US2S.vhd).
Abin da lissafin kuskure (kuskure vhd) ke yi shine cire saurin da aka auna daga gudun maƙasudin don tantance aikin kowane motar. Wannan yana nufin cewa a lokacin da duka biyu suna da ƙima ɗaya, ragi ya zama sifili kuma motar za ta motsa a kan ƙarfinsa kawai. Hakanan zaka iya ƙara juzu'i na ninkawa ta yadda mutum-mutumin zai iya kaiwa ga saurin manufa cikin sauri.
Tunda mai sarrafa motar yana buƙatar gudu da shugabanci na kowane motar, dole ne ku fassara ƙimar da aka sanya hannu na aikin zuwa dabi'u daban-daban waɗanda ba a sanya hannu ba: saurin (1 bit) da shugabanci (bits 8). Ana yin wannan ta hanyar mai canza hanyar binary-zuwa-wanda ba a sanya hannu ba (S2US.vhd), kuma zai zama abubuwan shigar da sashin sarrafa motoci.
Mun kuma ƙara wani module don sanin abin da za a yi idan ba a gano haske ba (babu ma'aunin haske. Bhd). Tun da yake wannan tsarin ma'auni ne, zai ƙidaya tsawon lokacin da robot ɗin ke buƙatar juyawa ko zama a wurin. Wannan zai tabbatar da cewa mutum-mutumi ya “gani” muhallinsa maimakon abin da ke gabansa kawai, da kuma adana ƙarfin baturi lokacin da babu tushen haske da gaske.
Mataki na 6: Haɗa Files
Don haɗawa files, kuna buƙatar haɗa sigina daga kowane tsarin. Don yin hakan, dole ne ka yi sabon babban matakin matakin file. Saka abubuwan shigar da abubuwan da suka gabata na samfuran da suka gabata azaman abubuwan haɗin gwiwa, ƙara sigina don haɗin gwiwa kuma sanya kowace tashar jiragen ruwa zuwa madaidaitan biyu. Kuna iya komawa zuwa haɗin kan hoton da ke sama, kuma ku dubi lambar a nan.
Mataki na 7: Gwada Shi
Bayan kun gama da duka lambar, kuna buƙatar sanin ko lambar ku tana aiki kafin ku loda shi a kan allo, musamman tunda sassan code ɗin na iya yin ta mutane daban-daban. Wannan yana buƙatar bench, inda za ku shigar da ƙima mai ƙima kuma ku ga ko lambar ta nuna yadda muke son ta kasance. Kuna iya hutawa farawa ta gwada kowane nau'in, kuma idan duk sunyi aiki daidai, zaku iya gwada babban matakin matakin.
Mataki 8: Gwada Shi akan Hardware
Bayan an gwada lambar ku akan kwamfutarka, zaku iya gwada lambar akan ainihin kayan aikin. Dole ne ku yi takura file a kan Vivado (.xdc file don BASYS 3) don sarrafa abubuwan shigar da abubuwan da ke zuwa waɗanne tashoshin jiragen ruwa.
MUHIMMAN NASIHA: Mun koyi hanya mai wuya cewa kayan lantarki na iya samun matsakaicin ƙimar halin yanzu ko voltage. Tabbatar da komawa zuwa bayanan bayanan don ƙimar. Don PMOD HB5, tabbatar da saita voltage daga tushen wutar lantarki a 12 volts (kamar yadda wannan shine voltage don motar), da kuma halin yanzu kadan kamar yadda ake bukata don motsi.
Mataki na 9: Haɗa shi da Sauran Sassan
Idan matakan da suka gabata sun yi nasara, haɗa lambar tare da sauran ƙungiyoyi don lambar ƙarshe da za a ɗora a cikin robot. Sai, voila! Kun yi nasarar yin mutum-mutumi mai neman haske.
Mataki na 10: Masu ba da gudummawa
Daga hagu zuwa dama:
- Antonius Gregorius Deaven Rivaldi
- Felix Wiguna
- Nicholas Sanjaya
- Richard Medyanto
Yayi kyau sosai: Ikon Gudun Mota na VHDL: Yanke Jagoranci da Gudun Gudun Hagu da Dama: Shafi 6
Na gode da sakeviewina! Wannan aikin a haƙiƙa ɗaya ne kawai na aikin aji (Robot Neman Haske tare da allon BASYS 3 da kyamarar OV7670), don haka zan ƙara hanyar haɗin zuwa aji' wanda za'a iya koyarwa nan ba da jimawa ba!
Abin ban mamaki: Ina fatan ganin an hada komai tare.
Takardu / Albarkatu
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Sarrafa Gudun Mota VHDL masu koyarwa Suna Yanke Jagora da Gudun Hagu da Mai Gudun Dama [pdf] Umarni Ikon Gudun Mota na VHDL Yanke Shawarar Jagoranci da Gudun Hagu da Mai Kula da Gudun Dama, Gudun Motar VHDL, Sarrafa Yanke Yanke Jagora da Gudun Hagu da Dama |
