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README_tw.md
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README_tw.md
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# hexapod-v2-7697
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Hexapod v2 using Linkit 7697
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這是個 Hexapod (六足昆蟲) 專案
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可以用任何手機 (iOS 或 Android) 來控制它的動作 (包括前進，後退，扭動等等...)
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可參考以下的 Youtube 影片 https://youtu.be/NJ7DdDEcq3U & https://youtu.be/To2Y6Mhu-CE
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<a href='https://youtu.be/NJ7DdDEcq3U'><img src='http://img.youtube.com/vi/NJ7DdDEcq3U/mqdefault.jpg'/></a>
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<a href='https://youtu.be/To2Y6Mhu-CE'><img src='http://img.youtube.com/vi/To2Y6Mhu-CE/mqdefault.jpg'/></a>
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> 在 https://smallptsai.github.io/hexapod-v2-7697/ 可以看到更多影片
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## 簡介
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* 利用 `Linkit 7697` 的 `BLE` 藍牙功能來作到 **遙控**
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* 它有六隻腳，每隻腳各有三個關節，總共使用了 `18` 個 **伺服馬達** (TowerPro `MG92B`)
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* Linkit 7696 沒有這麼多個 PWM 可用，所以使用了二顆 NXP 的 `PCA9685` 來控制這麼多個伺服馬達
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* 動力使用 7.4v 的鋰電池 `2S Lipo battery (7.4v)`, 另外也用了 7 個 `mini360 DC-DC` 穩壓電路，其中 1 個供電給 Linkit 7697, 其它 6 個各負責一隻腳 (三個伺服馬達) 的電力
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* 機身則使用 3D 列印 (PLA材質)
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* 所有東西 (模型STL檔案, PCB電路圖, 7697代碼) 都以 GPL license 開源, Happy making!
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## 技能需求
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如果你也想要實現這個專案，會需要以下的技能:
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* 機構部分
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* 會使用 `3D 列印`
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* 能夠微調 3D 模型以符合自己的需求 (例如, 使用不同的伺服馬達)
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* 電路部分
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* 洗 `PCB` 電路板 (建議找專業 PCB 服務)
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* 焊接 `SMD` 元件 (0805 和 TSSOP28 封裝)
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* 知道如何使用鋰 (`Lipo`) 電池 (充電和保存)
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* 軟體部分
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* 使用 `Linkit 7697` (ie. 編譯和上傳程式)
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* 使用 `LRemote` 來連接 7697 和手機
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## Table of Content
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1. [機構](mechanism/) - 如何組裝3D件 (English only)
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1. [電路](electronics/) - 電路說明 (English only)
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1. [軟體](software/) - 7697上的軟體 (English only)
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## FAQ
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1. 如何校正 / 為什麼腳的位置不正
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Calibration 在軟體內有內建, Reboot 後時按一下 7697 上的 USR key, 再用手機連會進到另一個 UI, 可以針對每個 Servo 去調中心點 (offset) 和 比例 (scale), 3d 件上都有個溝槽可以對 0度, 45度和 -45度, 對好後再按 Save 存檔
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1. Servo 如何連接, 順序是什麼
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順序都是由內到外, body -> thigh -> foot，不過 layout 時會了走線好看, 有一隻腳的方向是反的，可以在 calibration 時切到不同位置按 45~0~-45度動看看來調整
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請參照 [electronics/#servo-connection](electronics/#servo-connection)
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1. 在調整/校正時，左右 Servo 連動，正常嗎?
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不正常, 左右兩張板子有一個地方 (i2c address) 不同，左邊的PCB板的 SJ1 要焊起來
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請參照 [electronics/#sub-x2](electronics/#sub-x2)
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1. 請問校正的標準姿勢為何? 例如人形立正或大字型
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所有的關節都在 0 度的位置, 是個 ㄇ 型
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校正要先回到 offset/scale 0 的情況, 再重鎖 servo 擺臂盡量到置中位置後，再用軟體微調~
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<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
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<meta name="description" content="Hexapod is an Robotic project for Personal/Hobby Maker, using Raspberry Pi (RPi) or Linkit 7697 as its controller, also iOS/Android remote controllable">
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<meta name="google-site-verification" content="30IiEfZdTOk1bjP4Zq3M3UkRtd8lec_UW8ReDJIH0Vg" />
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<script src="https://code.jquery.com/jquery-3.3.1.slim.min.js" integrity="sha384-q8i/X+965DzO0rT7abK41JStQIAqVgRVzpbzo5smXKp4YfRvH+8abtTE1Pi6jizo" crossorigin="anonymous"></script>
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<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
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<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
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<div class="col-sm-9 col-md-9 py-4">
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<h4 class="text-white">About</h4>
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<p class="text-muted">This is a personal hobby project. <br/>All source code (including 3D components, circuit diagrams, source code) are opened under GPL license. <br/>Feel free to make one by yourself. <br/>Happy Making!</p>
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</div>
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<!-- <div class="col-sm-4 offset-md-1 py-4">
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<h4 class="text-white">Contact</h4>
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<ul class="list-unstyled">
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<li><a href="#" class="text-white">Follow on Twitter</a></li>
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<li><a href="#" class="text-white">Like on Facebook</a></li>
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<li><a href="#" class="text-white">Email me</a></li>
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</ul>
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</div> -->
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<!-- <svg xmlns="http://www.w3.org/2000/svg" width="20" height="20" fill="none" stroke="currentColor" stroke-linecap="round" stroke-linejoin="round" stroke-width="2" aria-hidden="true" class="mr-2" viewBox="0 0 24 24" focusable="false"><path d="M23 19a2 2 0 0 1-2 2H3a2 2 0 0 1-2-2V8a2 2 0 0 1 2-2h4l2-3h6l2 3h4a2 2 0 0 1 2 2z"/><circle cx="12" cy="13" r="4"/></svg> -->
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<img width="20" height="20" src="images/icon-w.png"/>
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<strong>Hexapod</strong>
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</a>
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<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarHeader" aria-controls="navbarHeader" aria-expanded="false" aria-label="Toggle navigation">
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<div>
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<h1 class="jumbotron-heading text-outlined">Hexapod Project</h1>
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<ul>
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<li class="jumbotron-text text-outlined">6 legs, each with 3 servos, total 18 degress of freedom</li>
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<li class="jumbotron-text text-outlined">Android / iOS remotely controlled</li>
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<li class="jumbotron-text text-outlined">2S LiPO battery powered</li>
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</ul>
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<p>
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<a target="_blank" href="https://github.com/SmallpTsai/hexapod-v2-7697" class="btn btn-primary">Github</a>
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<a target="_blank" href="https://www.youtube.com/channel/UC4nvIRRByxOkgKwkdb99Z8w" class="btn btn-primary">Youtube</a>
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</p>
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<div class="card-body">
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<p class="card-text">Hexapod v2.1<br>New movement mode: "Shift", "Climb", "Slow" are supported.</p>
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<div class="d-flex justify-content-between align-items-center">
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<a href="https://youtu.be/To2Y6Mhu-CE" class="btn btn-sm btn-outline-secondary">Youtube</a>
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<small class="text-muted">2018/12/8</small>
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</div>
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</div>
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<div class="card-body">
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<p class="card-text">Leg Assembly<br>This video demostrates how "Leg" is assembled.</p>
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<div class="d-flex justify-content-between align-items-center">
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<a href="https://youtu.be/oaAE5fC09KQ" class="btn btn-sm btn-outline-secondary">Youtube</a>
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<small class="text-muted">2019/3/10</small>
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</div>
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</div>
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</div>
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</div>
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||||||
<img src="images/3dparts-s.jpg"/>
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</div>
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<div class="card-body">
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<p class="card-text">3D parts<br>Parts in <font color=blue>Blue</font> rectangle are for "Body"<br/>Parts in <font color=red>Red</font> rectangle are for "one Leg"</p>
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<div class="d-flex justify-content-between align-items-center">
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<a href="images/3dparts-b.jpg" class="btn btn-sm btn-outline-secondary">Detail Image</a>
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<small class="text-muted">2019/3/23</small>
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</div>
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</div>
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</div>
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</div>
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||||||
<iframe class="bd-placeholder-img card-img-top" width="100%" height="300" src="https://www.youtube.com/embed/EhIvYd5yoXo" frameborder="0" allow="autoplay; encrypted-media"></iframe>
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<div class="card-body">
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<p class="card-text">Sunday in the park<br>Shows App UI and How remote-controling Hexapod work.</p>
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<div class="d-flex justify-content-between align-items-center">
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<a href="https://youtu.be/EhIvYd5yoXo" class="btn btn-sm btn-outline-secondary">Youtube</a>
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<small class="text-muted">2019/3/17</small>
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</div>
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</div>
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||||||
</div>
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||||||
</div>
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||||||
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<div class="col-md-6">
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||||||
<div class="card mb-4 shadow-sm">
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||||||
<iframe class="bd-placeholder-img card-img-top" width="100%" height="300" src="https://www.youtube.com/embed/NJ7DdDEcq3U" frameborder="0" allow="autoplay; encrypted-media"></iframe>
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<div class="card-body">
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<p class="card-text">Hexapod v2.0<br>Show various movement.</p>
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<div class="d-flex justify-content-between align-items-center">
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<a href="https://youtu.be/NJ7DdDEcq3U" class="btn btn-sm btn-outline-secondary">Youtube</a>
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||||||
<small class="text-muted">2018/10/6</small>
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||||||
</div>
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||||||
</div>
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||||||
</div>
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||||||
</div>
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<div class="col-md-6">
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<div class="card mb-4 shadow-sm">
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||||||
<iframe class="bd-placeholder-img card-img-top" width="100%" height="300" src="https://www.youtube.com/embed/mwXX7JwDgVw" frameborder="0" allow="autoplay; encrypted-media"></iframe>
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<div class="card-body">
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|
||||||
<p class="card-text">Hexapod v2.0<br>Show "Running" and "Climb" movement</p>
|
|
||||||
<div class="d-flex justify-content-between align-items-center">
|
|
||||||
<a href="https://youtu.be/mwXX7JwDgVw" class="btn btn-sm btn-outline-secondary">Youtube</a>
|
|
||||||
<small class="text-muted">2018/10/10</small>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div class="col-md-6">
|
|
||||||
<div class="card mb-4 shadow-sm">
|
|
||||||
<iframe class="bd-placeholder-img card-img-top" width="100%" height="300" src="https://www.youtube.com/embed/rrRT6g5XCQ4" frameborder="0" allow="autoplay; encrypted-media"></iframe>
|
|
||||||
<div class="card-body">
|
|
||||||
<p class="card-text">Hexapod v2.0<br>Show "Waltz-like" movement</p>
|
|
||||||
<div class="d-flex justify-content-between align-items-center">
|
|
||||||
<a href="https://youtu.be/rrRT6g5XCQ4" class="btn btn-sm btn-outline-secondary">Youtube</a>
|
|
||||||
<small class="text-muted">2018/10/13</small>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- <div class="col-md-6">
|
|
||||||
<div class="card mb-4 shadow-sm">
|
|
||||||
<iframe class="bd-placeholder-img card-img-top" width="100%" height="300" src="https://www.youtube.com/embed/" frameborder="0" allow="autoplay; encrypted-media"></iframe>
|
|
||||||
<div class="card-body">
|
|
||||||
<p class="card-text"><br></p>
|
|
||||||
<div class="d-flex justify-content-between align-items-center">
|
|
||||||
<a href="" class="btn btn-sm btn-outline-secondary">Youtube</a>
|
|
||||||
<small class="text-muted">2018/12/8</small>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div> -->
|
|
||||||
|
|
||||||
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
</main>
|
|
||||||
|
|
||||||
<footer class="text-muted">
|
|
||||||
<div class="container">
|
|
||||||
<small><p>This is a personal hobby project. <br/>All source code (including 3D components, circuit diagrams, source code) are opened under GPL license. <br/>Feel free to make one by yourself. <br/>Happy Making!</p></small>
|
|
||||||
</div>
|
|
||||||
<div class="container">
|
|
||||||
<p class="float-right">
|
|
||||||
<a href="#">Back to top</a>
|
|
||||||
</p>
|
|
||||||
<small><p>Powered by © Bootstrap</p></small>
|
|
||||||
</div>
|
|
||||||
</footer>
|
|
||||||
|
|
||||||
</body>
|
|
||||||
</html>
|
|
||||||
|
Before Width: | Height: | Size: 1.0 MiB After Width: | Height: | Size: 1.0 MiB |
|
Before Width: | Height: | Size: 158 KiB After Width: | Height: | Size: 158 KiB |
1
software/archive/pathTool/src/output/movement_table.h
Normal file
1
software/archive/pathTool/src/output/movement_table.h
Normal file
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|
|||||||
|
../../../hexapod7697/src/hexapod/movement_table.h
|
||||||
@ -1 +0,0 @@
|
|||||||
../../../hexapod7697/src/hexapod/movement_table.h
|
|
||||||
Loading…
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Reference in New Issue
Block a user