#The 7th Lichuang Electronic Competition# Robotic arm control device based on n32g430

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***1. Introduction to project functions***

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***This project consists of three parts:***

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***Part I: Real-time pose display based on n32g430***

> * In this part, we will use n32g430 to make a real-time pose display.

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***Part II: Controller based on n32g430***

> * In this part, we will use n32g430 to make a gimbal, and use the information obtained from the pose display in the first part to control the movement of the robot arm joints.

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***Part III: Robotic arm***

> * A robotic arm built with servos and alloy parts.
> * Due to time reasons, this part was not combined with the robotic arm for control, but the most important part of the control, namely the pose display and the data transmission between the pose display and the n32g430 controller, has been completed. > *
It may be better to use a stepper motor for the robotic arm.

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***2. Project attributes***

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> This project is open to the public for the first time; the project is original; the project has not won any awards in other competitions; the project has not participated in thesis defense in school.

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***3. Open source agreement***

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> GPL 3.0

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***4. Hardware part***

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> Use Jiali Chuang EDA Professional Edition

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***5. Final physical display***

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***Hardware part***

> * Pose display
> ![Pose display.jpg] >
> * n32g430 controller
> ![n32g430 controller(1).jpg]
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***Software part***

> * Pose coordinate calculation
> The pose calculation part is not studied in depth, and the code is only modified based on the reference code in the case material.
> ![Pose picture.jpg] > ![Euler angle calculation formula.jpg] >
> * Data frame definition
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> >
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One of the main contents of the software part is the definition of the data frame format during data transmission.
> ![data frame format.jpg] >
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> * Data transmission part program
> Posture display sends data
> ![send.jpg] > n32g430 controller receives program
> ![rec.jpg]
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***6. Certificate of completion***
![N32 certificate of completion.png]