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【Training Camp】Four-Legged Dog

Overview

introduction:

Based on the OpenHarmony open source system, HiSilicon hi3816 is used as the main control board of the system to control the pca9685 chip and then control eight servos (pca9685 can control up to 16 servos). Make a four-legged dog controlled by eight servos, and add two DC motor preparation interfaces. Use hi3816 to make a four-legged dog controlled by eight servos. Realize the basic gait and add two DC motors.

Chip introduction:

1. This project uses Hi3861 as the main control chip to control the 16-channel servo chip of PCA9685. The HiBurn tool is used to burn the program. This tool can burn firmware and view the serial port and other functions.

2. For i2c communication between PCA9685 and Hi3861, only two lines can be used to control 16 channels of PWM, and the cycle and duty cycle are controllable.

3. AT8548 dual-channel H-bridge motor driver chip can control two DC motor drives or one bipolar stepper motor.

Material cost: (Since this project was completed in the advanced training camp of Lichuang Training Camp, some component vouchers can be applied for, and the material cost has been reduced)

1. Acrylic cutting: 20 yuan;

2. PCB: Free prototyping by Jialichuang;

3. Steering gear: 6*8=48 yuan;

4. Components (+ postage): 100 yuan (I applied for a component coupon worth more than 100 yuan, and Jialichuang gave me 50 yuan, which is really good);

5. M2*10 bolts (50 sets): 4.73-3.39 (red envelope received from Taobao) = 1.34 yuan;

6. 7.4V battery: I didn’t buy it because the school had one, so I replaced it with other batteries at home;

7. Burner: 4.70-2.86 (red envelope received from Taobao) = 1.84 yuan.

Full video: https://www.bilibili.com/video/BV1bS4y1J7sT/?vd_source=300a048293d5b252246ba71e14f6c07b

Design Files

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Update:2025-06-20 06:04:59

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