2024 Electronic Design Contest, Problem H

Materials:
1. Liangshanpai development board
2. Ganwei grayscale sensor, Weite JY61P angle sensor
3. 0.96-inch OLED, JY-31 Bluetooth sensor, active buzzer, LED lights and buttons
4. 12V to 5V and 5V to 3V step-down modules, DC interface and single-pole double-throw switch
5. TB6612 motor drive module, motor interface female connector, car frame and MG513X motor
 
 
 
connection instructions:
After soldering the female connector according to the PCB board, insert each module. See the attached notes for details.
 
 
 
Car function:
Implement angle closed-loop control and tracking function according to the requirements of the 2024H question in the attached document (the extended Bluetooth is configured but the control command is not written).
 
 
Operation instructions:
There are 3 operation buttons: the reset button on the development board is the reset button, the key up button on the development board is the task selection button, and the SW2 button is the motor start button.
 
The OLED displays the following:
Angle (current angle)
, left wheel odometer, right wheel odometer,
average odometer;
and key (corresponding key value for the task).
 
For question 2, at the beginning, the car should be placed perpendicular to the AB line, then the reset button should be pressed, and then it should be placed back at the starting point. At the starting point, place it until the Angle display on the OLED is approximately +90, then start the operation. This is to prevent angle jumps during gyroscope closed-loop control.
Questions 3 and 4 are similar: place the car perpendicular to the AB line, press the reset button, then place it back at the starting point. At the starting point, place it until the Angle display on the OLED is approximately +53, then reset and start the operation.