太白金星

【Training Camp】A mobile repair dog

Overview

Project Description

Video: https://www.bilibili.com/video/BV13U4y1v7Eg/

When I first saw this dog, I wanted to name it a moving repair dog~, so the name of the project was a moving repair dog;

Source of work: ohosdog - Jialichuang EDA open source hardware platform (oshwhub.com) ;

Production idea: I am more interested in servo control and 3D design;

Implemented functions: The basic functions of the dog, such as installation, stepping, forward, backward, etc., have been realized. I originally wanted to implement ultrasonic ranging and avoid obstacles, but the module was broken. The power indicator module and a servo failed before video recording, so the effect was a bit strange.

Schematic design instructions

Based on the given basic schematic diagram, the principle of the system is drawn modularly, as shown in the following figure:

Added part:

(1) A locomotive and a power switch are added to the power supply. Both of these devices are high-current devices and lead out the required power supply voltage for use;

(2) Group the interfaces of the four legs and lead to the remaining 8 sets of expansion interfaces;

(3) A power indicator LED and a function LED are added;

(4) Plate and frame studs;

Note: If you want to access the battery power indicator module, it is more reasonable to replace the PWR in H1 with VIN, so that the power indicator can be turned on and off when the switch is activated. Otherwise, it will be turned on all the time to consume the battery.

PCB design instructions

Basically, the layout is based on the schematic diagram. The main idea is that the upper left is the power supply, the upper right is the Hi3861 module, and the lower part is reserved for the PCA9685. The whole thing is relatively simple.

material selection

Detailed list: Refer to the Robot Dog Training Camp Assignment Submission Form (Lichuang & Chuanzhi) (qq.com)

Servo: MG90S metal gear

Main control: Chuanzhi Hi3861 module

Battery: Two parallel and two series 18650 lithium batteries 7.4V 4000mAh

Power display: 4-segment display

3D shell

The top and bottom covers have been widened, the side covers have been heightened, the thighs have been lengthened and the calves have been modified. The front and rear baffles have also been modified. The front baffle does not match the actual ultrasonic size, and the power display module does not match the rear one. Bezel matches.

programming

Using the virtual machine officially provided by Chuanzhi, VMWare16 Pro can be opened directly without any errors. hb build can be used directly.

code editor

Visual Studio Code, personally familiar with it

1 About installation mode

Since my dog's legs are long, the dog's legs are not stable in the default installation mode, so I need to enter parameters in the dog leg simulation for adjustment.

Other static postures are adjusted according to the software to obtain the degrees of alpha and beta.

After obtaining the angle of the above posture, download and verify it through pycarm IDE.

Custom dog-leg installation mode

2 Modify the web page to add buttons and implement functions (note the html format)

The web page is modified as follows. When adding buttons, add the corresponding click action function for binding.

View directly in browser

C code logic modification

main program

#include <stdio.h>

#include <string.h>

#include <strings.h>

#include <stdlib.h>

#include <unistd.h>



#include "ohos_init.h"

#include "cmsis_os2.h"



#include "genki_base.h"

#include "genki_web_ohosdog.h"

#include "genki_web.h"

#include "genki_pin.h"

#include "dog.h"

#include "led.h"

#include "beep.h"

#include "lcd_st7735.h"



static void init_service(void)

{

genki_web_register(newDogService());

}



static void start(void)

{

IoTIoSetFunc(IOT_IO_NAME_10, IOT_IO_FUNC_10_I2C0_SDA);

IoTIoSetFunc(IOT_IO_NAME_9, IOT_IO_FUNC_9_I2C0_SCL);

IoTI2cInit(0, 400000);

init_led();

init_beep();

init_service();

dog_init();

genki_services_start();

dog_install();

// ST7735_LCD_Init();

// LCD_ShowString(8, 8, "Hello Word", BLACK, BLUE, 16, 1);

}



APP_FEATURE_INIT(start);

Installation mode

void dog_install(void)
{
  dog_setLeftFrontAngle(45, 135);
  dog_setLeftBackAngle(45, 135);
  dog_setRightFrontAngle(45, 135);
  dog_setRightBackAngle(45, 135);
}

static pose

When type is set to 2 in dog.c, it is used as a static posture communication command. When htm sends the json string to Hi3861 through http, only the Hi3861 pair is retained, which represents the analysis of the "index" key-value pairs of the four static posture commands. , while discarding other key-value pair parsing.

void dog_execJson(char *buf, int len)
{
  cJSON *recv_json;
  recv_json = cJSON_ParseWithLength(buf, len);

  int type = cJSON_GetObjectItem(recv_json, "type")->valueint;
  if (type == 1)
  {
    dog_install();
  }
  else if (type == 2)
  {
    int index = cJSON_GetObjectItem(recv_json, "index")->valueint;

    // cJSON *data_json;
    // data_json = cJSON_GetObjectItem(recv_json, "data");
    // int alpha = cJSON_GetArrayItem(data_json, 0)->valueint;
    // int beta = cJSON_GetArrayItem(data_json, 1)->valueint;

    // if (index == 0) {
    // dog_setLeftFrontAngle(alpha, beta);
    // } else if (index == 1) {
    // dog_setLeftBackAngle(alpha, beta);
    // } else if (index == 2) {
    // dog_setRightFrontAngle(alpha, beta);
    // } else if (index == 3) {
    // dog_setRightBackAngle(alpha, beta);
    // }

    if (index == 0) // squat
    {
      dog_setLeftFrontAngle(15, 165);
      dog_setLeftBackAngle(15, 165);
      dog_setRightFrontAngle(15, 165);
      dog_setRightBackAngle(15, 165);
    }
    else if (index == 1) // stand up
    {
      dog_setLeftFrontAngle(85, 70);
      dog_setLeftBackAngle(85, 70);
      dog_setRightFrontAngle(85, 70);
      dog_setRightBackAngle(85, 70);
    }
    else if (index == 2) // Lie forward
    {
      dog_setLeftFrontAngle(-40, 45);
      dog_setRightFrontAngle(-40, 45);
      dog_setLeftBackAngle(45, 90);
      dog_setRightBackAngle(45, 90);
    }
    else if (index == 3) // Lie down
    {
      dog_setLeftFrontAngle(90, 135);
      dog_setRightFrontAngle(90, 135);
      dog_setLeftBackAngle(160, 180);
      dog_setRightBackAngle(160, 180);
    }
  }
  else if (type == 3)
  {
    int execute_count = 1;
    if (cJSON_HasObjectItem(recv_json, "count"))
    {
      execute_count = cJSON_GetObjectItem(recv_json, "count")->valueint;
    }

    dog_action_t *action = malloc(sizeof(dog_action_t));
    action->exec_count = execute_count;

    //Send multiple messages
    cJSON *list_json;
    list_json = cJSON_GetObjectItem(recv_json, "list");
    int count = cJSON_GetArraySize(list_json);

    action->len = count;
    action->cmds = malloc(sizeof(dog_cmd_t) * count);

    for (int i = 0; i < count; i++)
    {
      cJSON *item_json;
      item_json = cJSON_GetArrayItem(list_json, i);

      dog_cmd_t cmd;
      cmd.angle[0] = cJSON_GetArrayItem(item_json, 0)->valueint;
      cmd.angle[1] = cJSON_GetArrayItem(item_json, 1)->valueint;
      cmd.angle[2] = cJSON_GetArrayItem(item_json, 2)->valueint;
      cmd.angle[3] = cJSON_GetArrayItem(item_json, 3)->valueint;
      cmd.angle[4] = cJSON_GetArrayItem(item_json, 4)->valueint;
      cmd.angle[5] = cJSON_GetArrayItem(item_json, 5)->valueint;
      cmd.angle[6] = cJSON_GetArrayItem(item_json, 6)->valueint;
      cmd.angle[7] = cJSON_GetArrayItem(item_json, 7)->valueint;
      cmd.duration = cJSON_GetArrayItem(item_json, 8)->valueint;

      action->cmds[i] = cmd;
    }
    dog_execAction(action);
  }
  cJSON_Delete(recv_json);
}

Other actions are generated by modifying the software and then written into HTML.

Design Files

All reference designs on this site are sourced from major semiconductor manufacturers or collected online for learning and research. The copyright belongs to the semiconductor manufacturer or the original author. If you believe that the reference design of this site infringes upon your relevant rights and interests, please send us a rights notice. As a neutral platform service provider, we will take measures to delete the relevant content in accordance with relevant laws after receiving the relevant notice from the rights holder. Please send relevant notifications to email: bbs_service@eeworld.com.cn.

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