Project Introduction
This project is a mechanical dog designed based on the Hi3861 main control chip. PCA9685 is selected to realize 16-channel steering gear drive. 180° MG90S steering gear is selected as the joint position control motor. 7.4V lithium battery is used with a linear voltage stabilizing circuit for the chip and the steering gear respectively. Provides 3.3V and 5V power supply, and uses a 3mm acrylic cutting solution to save costs.
hardware design
- HI3861 main control chip: Refer to the HI3861 chip module manual provided by Zhongchuanzhi Education in Lichuang Mall, and imitate the typical schematic diagram of the minimum system to complete the circuit design of the chip module power supply, I2C communication and serial port programming modules.
- PCA9685 driver module: Refer to the chip manual to complete the circuit design of the chip module power supply, I2C communication and other modules.
- Power module: According to the reference manual of the selected devices LM1084S-5.0/TR and AMS1117-3.3 , complete the 3.3V and 5V power circuit design with reference to the typical circuit.
- Device selection: Complete the device selection of resistors and capacitors, see the BOM table for details.
- Appearance design: According to the size of the circuit board designed by myself, the position and size of the fixing holes of the model were re-modified.
software design
- Due to hardware problems, the control ports of some servos were modified to complete the burning of Hongmeng's underlying firmware.
- Through the officially provided gait simulation software, py is used on the PC to realize the gait control of the robot dog.
- Added the crouching command for HTML web page control in the genki_web_ohosdog.c file.
- The follow-up is still being optimized...
Project summary
- Hardware:
- I forgot to design a power switch at the beginning of the circuit design, so I had to manually unplug the power cord every time. There was an unsafe factor in plugging in the power cord backwards, causing damage to the circuit.
- LED lights can also be added to the circuit to remind the debugger of the working status of the circuit, making it easier for the debugger to find problems faster.
- After completing the action, some motors will vibrate. The circuit board has been carefully checked and it is currently suspected to be a problem with the steering gear.
- Software:
- At present, there are still problems with the control accuracy of the steering gear and it has not been able to achieve the expected goals.
- I am still learning about personalized web page production...
some thoughts
I am very grateful for the training camp jointly organized by Lichuang and Chuanzhi Education. The customer service of Lichuang EDA and the technical support of Chuanzhi Education are very good, and they patiently answer even novice questions.
Just like the title says, I was exposed to the design of bionic machines in this training camp. I felt that I gained a lot. I discovered my own shortcomings and had the direction to continue learning.
During the debugging process, two of Gouzi's servos were broken. While waiting for new servos, I dismantled three more and made them into small clocks. Haha, yes, hahaha. I asked the manufacturer to cut the model of the small clock together. Only children make choices hahaha!
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