廢柴小六足機器人 DIY 課程

DMP Electronics Inc. () [email protected]

DIY

DIY

Stpe1 Step2 Step3 Step4 Step5

DMP RS-1270 KONDO KRS-788HV

DMP RS-0263

TowerPro SG-90

Scanner STL-9894CTG

KONDO KRS-2552HV

Robotics MX-28

Robotics AX-12

SYS-214050

RC (1/2) RC Servo Radio Control ServoRadio Control

Servo

Servo

RC (2/2) RC Servo Servo

RC

Arduino

()

()

RC RC

PWM

RC PWM

AI

Robotics () TTL SerialRS485 KONDO () PWMTTL Serial

() PWM () PWM

TOWERPRO () PWM

PWM (1/2) (Pulse Width Modulation)

PWM

PWM (2/2)

duty , HIGH

period HIGHLOW

HIGH LOW HIGH LOW HIGH LOW

PWM (1/2) PWM RC

1000 / 1500 / 2000 us PWM

: 0 / 90 /180

20ms

PWM (2/2) RC PWM

0 700us180 2300us

RC (1/6) RC

RC (2/6)

RC (3/6) RC

RC (4/6)

RC (5/6) RC

RC (6/6) RC

86Duino

86Duino

86Duino ONE 86Duino Zero 86Duino EduCake

86Duino (1/2) 32-bit x86 SoC Arduino UNO

x86 Arduino

Arduino

Arduino API

33 Arduino

Made In TaiwanCPU Made In Taiwan

86Duino (2/2)

86Duino ONE 86Duino Zero

86Duino EduCake

RC 86Duino Zero ?

86Duino Zero Zero RC

RC

Arduino shields

Arduino Sensor Shlied

Arduino Sensor Shlied 86Duino Zero

+

86Duino Zero +

Arduino Sensor shield RC Servo SG90 x 3

RC Servo SG90

86Duino Zero

2.54mm

Zero 5V

DIY DIY


1. 2.

3. USB

PS2

(1)

()

()

()

(2)

()

()

()

(86Duino Zero)

(3)

(86Duino Zero)

DIY DIY


(1/8) 3

2 35

1 38

(2/8) 1

(3/8) 2

(4/8) 4

(5/8) 5

3

1

1

(6/8) 4

2

(7/8) 1

1

(8/8) 4

(1/3) SG90 3 ()

(2/3) 7.4V 1

(3/3) 86Duino Zero 1

USB

2

1

5

6

7

8 9

4

3

10 11

12 13

1. 2. 3. 4. 5. 6. 7. 8. / 9. 10. 11. 12. 13.

DIY DIY DIY


Step 1.0 3

Step 1 ()

2 1

2

1

1

2

Step 1.1 1

()

Step 1.2 2

90 90

Step 1.3 M

~ 160

~ 80 ~ 80

Step 1.4

2 1

3

3

12

Step 1.5

Step 1.6 1

3 ~ 5 ,

1

1

Step 1.7 2 1 2

2

Step 1.8

DIY DIY DIY


Step 2.0 1

1

Step 2 ()

(1) (2)

Step 2.1

( 1/3 )

1 ~ 4 4

Step 2.2

4

12

12 34

1 2 20

20

1

2

3 4 20

20

3

4

DIY DIY DIY


Step 3.0 3

Step 3 ()

3

Step 2 1

Step 3.1

-

Step 3.2 Step 2 (

)

Step 3.3

90

1:

2:

1 ~ 2

30

DIY DIY DIY


Step 4.0 4 2

5

86Duino Zero

Step 4

86Duino Zero

Step 3 Step 2

Step 4.1 86Duino Zero 2 86Duino Zero

86Duino Zero

2 86Duino

86Duino

5V GND

86Duino 86Duino GND GND

86Duino 5V 5V

1 86Duino 44 S1

2 86Duino 43 S2

3 86Duino 42 S3

86Duino Zero

42

43 44 GND 5V

Step 4.2

3 2 1

1

2

3

Step 4.3 2

()

Step 3

Step 4.4

86Duino

DIY DIY DIY


Step 5.0 Step 5

3

2

3

Step 5.0

180

86Duino duty 1500us PWM ( 90 )

Step 5.1 sketch

http://www.roboard.com/temp/servo.zip

http://www.roboard.com/temp/servo.zip

#include // Servo86 Servo myservo1; Servo myservo2; // Servo Servo myservo3; void setup() { myservo1.attach(42); // Servo myservo2.attach(43); myservo3.attach(44); myservo1.write(1500); // 1500us PWM myservo2.write(1500); myservo3.write(1500); } void loop() {}

Sketch 86Duino 86Duino Coding 210

http://www.86duino.com/86Duino_IDE/86Duino_Coding_210_WIN.zip

http://www.86duino.com/86Duino_IDE/86Duino_Coding_210_WIN.ziphttp://www.86duino.com/86Duino_IDE/86Duino_Coding_210_WIN.zip

USB 86Duino

86Duino, http://www.86duino.com/index.php?p=4220&lang=TW

PC

USB

http://www.86duino.com/index.php?p=4220&lang=TW

86Duino 86Duino Zero/One/EduCake COMXX Windows

86Duino 1. 86Duino Coding IDE

2. > > 86Duino Zero

3. > COM port > (86Duino )

4. > ... > servo.ino

1.

2.

3.

Uploading the binary sketch Done

USB

USB

USB

3

2 1

Step 5.3 3

8.2V ~ 8.4V

SG-90 4.8V ~ 7.2 V SG-90 () 7.2V

()

20 40W ( 20 )

DC to DC

DC-DC

5V 86Duino Zero VIN

Arduino/86Duino

86ME

86ME

86ME Mk-IV

Arduino/86Duino

Arduino : Servo attach() - Servo pin

write() - Servo 0 ~ 180

writeMicroseconds()- PWM duty Servo

read() - Servo

attached() - Servo pin attach

detach() - Servo pin

** Servo Arduino

#include Servo myservo; void setup() { myservo.attach(9); myservo.write(900); delay(1000); myservo.write(2000); delay(1000); myservo.write(900); delay(1000); myservo.write(2000); } void loop() {}

Demo

Servo : 86Duino Servo86

45

PWM Duty jitter

Frame

#include Servo myservo; void setup() { myservo.attach(9); myservo.write(900); delay(1000); myservo.setVelocity(1100); myservo.write(2000); delay(1000); myservo.setVelocity(550); myservo.write(900); delay(2000); myservo.setVelocity(2200); myservo.write(2000); } void loop() {}

Demo

PWM Duty (1/2) Arduino Servo PWM

PWM duty (jitter)

PWM channel 12 , Arduino Timer, Timer , PWM jitter

PWM Duty (2/2) Arduino PWM duty

CPU

Arduino UNO , PWM

+

Arduino UNO

PWM RC Servo , servo

RC Servo , PWM

Arduino UNO

+

KONDO KRS4014 Servo

Servo

Arduino 86Duino 1 servo pin, PWM duty

PWM Duty (1/2)

duty

duty

Arduino UNO 1000 us 1000.04 us 1006.42 us 6 ~ 7 us Arduino Leonardo

1000 us 1000.04 us 1007.92 us 7 ~ 8 us

Arduino DUE 1000 us 998.200 us 998.280 us 1 ~ 2 us Arduino Mega2560

1000 us 1001.12 us 1008.87 us 8 ~ 9 us

86Duino 1000 us 998.64 us 1001.1 us 1 ~ 2 us ** ** 86Duino PWM I/O pin , 0

Arduino DUE / Mega2560 86Duino 45 servo pins, pin PWM duty , :

PWM Duty (2/2)

duty

duty

Arduino DUE 1000 us 998.05 us 1004.68 us 2 ~ 5 us Arduino Mega2560

1000 us 1001.09 us

1076.96 us 1 ~ 77 us

86Duino 1000 us 998.70 us 1001.31 us 1 ~ 2 us

Arduino Servo 12 channels , 2 Timer , Timer jitter

(3/3) https://www.youtube.com/watch?v=oOgHzcrVG1s

https://www.youtube.com/watch?v=oOgHzcrVG1s

Frame ()

(Frame) Servo86

Frame Pose

Frame 1 Frame 2 Frame 3 Frame 4 Frame 5

Frame

Frame Frame1: 1500, 1300, 1200, 900, 1765, 1809, 1243, 1200,990, 754, 2000

Frame2: 1340, 1200, 1543, 2178, 1222, 1456, 1723, 1111, 954, 1245

Frame3: 1000, 2345, 2000, 800, 1200, 2019, 2430, 1432, 1270, 955, 1560

86ME Frame

Servo86 86Duino

86ME Frame

otion frame

homeframe frame frame

homeframe

offset homeframe

offset

86ME offset homeframe

frame

(motion) frame

motion 86Duino sketch

86ME Demo https://www.youtube.com/watch?v=LZhoCQ4E-N4

https://www.youtube.com/watch?v=LZhoCQ4E-N4

86ME 1. 86ME

http://www.86duino.com/index.php?page_id=8923&lang=TW

2. 86ME

3. Windows .NET Framework 3.5 86ME

http://www.86duino.com/index.php?page_id=8923&lang=TWhttp://www.86duino.com/index.php?page_id=8923&lang=TW

86ME 86Duino

USB

PC 86ME

86ME

86Duino

86ME 86Duino USB 86Duino

86ME 86Duino 1. 86Duino Coding IDE

2. > > 86Duino Zero

3. > COM port > (86Duino )

4. > > Servo86 > MotionEditor

86ME 86Duino Uploading the binary

sketch Done

86ME 86Duino IDE

86ME

86Duino Auto 86ME

COM port COM port

(3/6) Robot

Configuration 86Duino Pin Home Offset Robot Configuration

(4/6) 86Duino

Offset Home

(5/6) 3

86Duino Zero 4243 44 OtherServos

(6/6) Load Robot Picture

1. 2.

OK

OK 86ME Motion

Name Motion

86ME Frame

Frame (1/6) 1) Motion Name

2) Add Motion MotionMotion Frame Action

Frame (2/6) 3) Action List

4) Add new action at the first field

5) Frame

Frame

(3/6) Frame

CH num PWM duty PWM duty

(4/6) PWM duty

(5/6)

Robot Configuration

CH

(6/6) Frame Sync

PWM duty

Frame

Frame

Motion

Frame (1/2) Frame

Frame Motion

1) Frame 0 Frame 1

2) add new action at the next field -> frame

Frame (2/2) 4

(1/3) 4 Frame86ME

Frame

(2/3) Frame

Flag Goto

Flag & Goto

Goto

Flag

Goto

Flag

Flag Flag

Flag Name

Flag

Goto Goto

Goto

Goto

Target Flag Name Flag

Enable Goto Goto

Loop Infinitely

Loop Infinitely Number of

loops Goto

Number of loops 2 Goto Motion

Motion

Motion 1. Motion Add Motion

2. Motion name

Motion

86ME Motion

Auto

Keyboard

Bluetooth

PS2 Controller

Auto Always On

Always Off

Start Up

Keyboard Keyboard

Key

Type

First Press

Pressed

Release

Bluetooth Bluetooth

Key

Used Port 86Duino Port

PS2 PS2

Key

Type Keyboard

DATCMDATTCLK PS2 86Duino Pin

86Duino

sketch sketch 86DUino

86Duino sketch

86Duino Sketch (1/3) 86ME Motion 86Duino

Sketch Sketch 86Duino Motion

86ME Sketch

Frame sketch

Frame sketch

86Duino Sketch (2/3) Frame sketch

Offset 86Duino Frame sketch (.ino )

Offset Frame SD sketch

86Duino Sketch (3/3) Frame sketch ()

sketch (.ino ) Offset Frame

Offset Frame SD

(1/4) Frame

CH42 1750

CH43 1300

CH44 1750

(2/4) Frame

CH42 1250

CH43 1300

CH44 1250

(3/4) Frame

CH42 1250

CH43 1700

CH44 1250

(4/4) Frame

CH42 1750

CH43 1700

CH44 1750

4 frame

(1/4) Frame

CH42 1750

CH43 1700

CH44 1250

(2/4) Frame

CH42 1250

CH43 1700

CH44 1750

(3/4) Frame

CH42 1250

CH43 1300

CH44 1750

(4/4) Frame

CH42 1750

CH43 1300

CH44 1250

4 frame

(1/4) Frame

CH42 1750

CH43 1300

CH44 1250

(2/4) Frame

CH42 1250

CH43 1300

CH44 1750

(3/4) Frame

CH42 1250

CH43 1700

CH44 1750

(4/4) Frame

CH42 1750

CH43 1700

CH44 1250

4 frame

86DuinoZero

APP UART 86DuinoZero 86DuinoZero

86Duino Zero

UART

PWM

PWM

APP

sketch

sketch

86ME

86Duino IDE

86DuinoZero

86DuinoZero HC-06 HC-05 1 HC-06

HC-06 UART 4 VCCGND RXD TXD

86DuinoZero Serial1 86DuinoZero HC-06

5V GND

RX1

HC-06

HC-06 LED ( 0.2 ) HC-06

86ME 1)

forward

2) Trigger 3) Bluetooth 4)

APP U

5) 86Duino Serial1

1

3 4

5

2

86ME Sketch 86ME Generate 86Duino sketch (All

in One 86Duino sketch

86Duino IDE > ...

86ME

86Duino IDE 86Duino

APP Android

Google Bluetooth Controller

iOS

APP store LightBlue Android Bluetooth Controller App iOS Bluetooth Controller App

Bluetooth Controller Set Keys

Key Name Data of Key

86ME forward U

ScanAPP

HC-06APP

Connect to HC-06

HC-06 LED !!

()

A4

2

1

Thank You 86Duino Maker Day II


86Duino Maker Day IIDIY Mk-IV RC 4RC (1/2)RC (2/2)RC 9RC RC PWM (1/2)PWM (2/2) PWM (1/2) PWM (2/2)RC (1/6)RC (2/6)RC (3/6)RC (4/6)RC (5/6)RC (6/6) 86Duino 86Duino 86Duino (1/2)86Duino (2/2) RC 86Duino Zero ? 86Duino Zero 29 31 32 33 35DIY DIY DIY 40 (1) (2) (3) DIY 45 (1/8) (2/8) (3/8) (4/8) (5/8) (6/8) (7/8) (8/8) (1/3) (2/3) (3/3) 60 DIY Step 1.0 63 64 66Step 1.1 1 68 69Step 1.2 2Step 1.3 72Step 1.4 74 76 77Step 1.5 79Step 1.6 1 81 82 83 84 85Step 1.7 2 Step 1.8 88 89 91 DIY Step 2.0 94 96Step 2.1 98 99 100 101 102Step 2.2 104 105 106 107 108 DIY Step 3.0 111 113Step 3.1 115Step 3.2 117 118 119Step 3.3 121 122 123 125 127 DIY Step 4.0 130 132Step 4.1 86Duino Zero 134 135 136 137 138 139 140Step 4.2 142Step 4.3 144 145Step 4.4 147 148 DIY Step 5.0Step 5.0Step 5.1 Sketch 86Duino 157 158 159 160 86Duino 162 163 164 165 166 167Step 5.3 169 171 172 174 17686Duino Maker Day II Mk-IV Arduino/86Duino Arduino : Servo Servo : 86Duino Servo86 PWM Duty (1/2)PWM Duty (2/2) Arduino UNO , PWM PWM PWM Duty (1/2) PWM Duty (2/2) (1/3) (2/3) (3/3)Frame () 19686ME 86ME 86ME 86ME 86ME Demo 86ME 86ME 86ME 86Duino 86ME 86Duino 86ME 86Duino 207 86ME 86Duino 86ME (1/6) (2/6) (3/6) (4/6) (5/6) 215 (6/6) 217 86ME Frame Frame (1/6) Frame (2/6) (3/6) 223 (4/6) (5/6) 226 (6/6) Motion Frame (1/2) Frame (2/2) (1/3) (2/3) (3/3)FlagGoto 241 Motion MotionMotion AutoKeyboardBluetoothPS2 86Duino sketch 86Duino Sketch (1/3) 86Duino Sketch (2/3) 86Duino Sketch (3/3) 86ME (1/4) (2/4) (3/4) (4/4) (1/4) 265 (2/4) 267 (3/4) 269 (4/4) 271 (1/4) (2/4) (3/4) (4/4) (1/4) 279 (2/4) 281 (3/4) 283 (4/4) 285 (1/4) (2/4) (3/4) (4/4) (1/4) 293 (2/4) 295 (3/4) 297 (4/4) 299 301 30386DuinoZero 306 307 30886ME 86ME Sketch 312 APP 315 316 317 318 319 320Thank You

廢柴小六足機器人 DIY 課程

Education

Transcript of 廢柴小六足機器人 DIY 課程