【Training Camp】HWL’s Coyotito

This is the third time I have participated in Lichuang’s training camp. The camp started on June 20th just in time for the final exams, so I had to give it a break.

Construction officially started on July 8th, first watch the video https://www.bilibili.com/video/BV1rY411T7Ds/?spm_id_from=333.788&vd_source=d409485a4ea2c371dd456cf1f8e203bc

Follow the video and use SolidWorks to start drawing the shell of the dog. The URL in the video cannot be opened, so I can only cut out the engineering drawings from the video and draw them one by one. I encountered a pitfall. I had previously installed SolidWorks2018. The servo model provided by the group required SolidWorks2020 or above to be opened. I uninstalled the original SolidWorks2018, downloaded and reinstalled SolidWorks2022, and it took four hours. . . . But fortunately, it works. Assemble all the parts and check whether there are any wrong dimensions. After checking, put the required parts together into a engineering drawing, export the DXF file and send it to a certain acrylic cutting merchant for cutting. Cost 16 yuan.

I will start drawing the PCB on July 11th, or watch the video first https://www.bilibili.com/video/BV1EN4y137dx/?spm_id_from=333.788&vd_source=d409485a4ea2c371dd456cf1f8e203bc

I didn’t watch the video carefully this time, I just briefly read the pin description, but this led to the emergence of a BUG. . . . , the reset function pin of ch340N was connected to the pin of HI3861. During subsequent debugging, the serial port could not be connected. It took me several hours to find out. I removed a resistor in series and solved the problem. There was also another The BUG is that the schematic diagram was hand-drawn. I connected A0~A4 of PCA9685 to 5V, which caused the PCA address to be incorrect and the IIC communication error. However, the address can be changed later in the program, but I didn't learn the step of changing the code at that time, so I manually scraped off all the 5v wires with a knife and then relied on flying wires to solve the problem. There is no 12V step-down circuit designed on the board, because the current required is relatively large first, and in order to reduce the size, it is better to plug in an external step-down module. A 5v to 3.3v is designed to power the HI3861, and all pins are led out for easy debugging.

On July 14th, the acrylic arrived and I started assembling the dog. First watch the video https://www.bilibili.com/video/BV1EU4y1977M/?spm_id_from=333.788&vd_source=d409485a4ea2c371dd456cf1f8e203bc

It's really cumbersome to assemble. . . , installed it all afternoon, and then revised it again. The whole day was spent on the structure. At first, I used screws to directly fix the acrylic on the servo. Later, I found that the clamp was not tight, so I installed the servo swing arm first, and then fixed the dogleg on it, which made it more stable.

On July 15th, the printed board and the components purchased from Lichuang Mall arrived. First, I applied solder paste, then placed the components on the teppanyaki, and finally re-soldered some direct plug-ins. It took more than an hour to complete. The PCB size and screw hole positions are designed based on the reserved PCB positions on the acrylic board, so it can be directly fixed on the acrylic board.

On July 17th, we started setting up the environment. First watch the video https://www.bilibili.com/video/BV1kv4y1g7jQ/?spm_id_from=pageDriver&vd_source=d409485a4ea2c371dd456cf1f8e203bc

Download the Pycharm community version, then install the Yuanqipai plug-in, use the relevant commands to burn into Gouzi through the serial port or network, and debug Gouzi. The following are the notes taken while watching the video.

VMwareVMwareVMware

On July 18th, build the environment required to compile Hongmeng source code. Watch the video first https://www.bilibili.com/video/BV1Jg411X7sZ/?spm_id_from=333.788&vd_source=d409485a4ea2c371dd456cf1f8e203bc

VMware has downloaded it before, so there is no need to install it. Download the image in Baidu Netdisk and open it through VMware. You can download Clion or VScode in the Ubuntu20 app store to modify the code to find functions and variables. It is actually useful to take notes after you know where to change. This modified code is more convenient, and the compilation relies on the pre-built environment of the image. Open the terminal in the source code directory, enter hb set first and press Enter twice. It is best to enter hb clean again to clear the previously compiled things, and then enter hb build to recompile. The compiled bin file can be found in the out/genkipi/genkipi directory. Burn this bin file to HI3861 and you can use the firmware you modified.

On July 20, I finally managed to finish it at 6:30 in the morning. However, I encountered another pitfall later. Clion's own terminal used the hb command to compile the firmware, and the compiled bin file did not change. After burning into Gouzi, Gouzi did not run according to my program, and it was still the original program, which made me think that I had made a mistake. Afterwards, I turned off Clion and compiled directly in the directory, and then the burned bin file was normal. Gouzi would run according to my program, so I have been directly using Notepad to modify the code, but occasionally there will be compilation and re-burning. Then the program did not change. Don't know where the problem is. (Complaining, burning takes too long, and debugging is extremely energy-consuming...)

On the basis of the source code, I made modifications according to the structure of my dog ​​to realize standing still, squatting, moving forward, retreating, turning left, and turning right. Modify the compiled bin file, the burning software and demonstration video have been placed in the attachment, and the modeling-related and acrylic cutting files are in the robot dog model compressed package.