Bài 7: Lập trình robot giáo dục KCbot điều khiển động cơ servo kết hợp cảm biến siêu âm

Hello everyone, now I would like to start the lesson for today We will continue with the next lesson in the theme of STEM robots and autonomous vehicles Last time we went to lesson 4, and today will be part 3 of lesson 4 We will make a robot that avoids obstacles using a supernova sensor combined with a servo engine Our new subject today is the servo engine First of all, we will learn about the servo engine Then we will make a robot that avoids obstacles using a supernova sensor combined with a servo engine And finally, I will introduce another application, which is the radar robot We will use servo and engine to turn it into a radar and place it on the robot That is the content of today's lesson First, we will learn about the servo engine As you can see on the screen, the servo engine is a low-speed engine with high torque And it has many different engines, unlike the DC engine and the step engine The servo engine usually does not rotate completely 360 degrees Instead, it usually has a limit of 180 degrees, 270 degrees, or 90 degrees Recently, I have seen some that have rotated 360 degrees For the servo engine, we will use a control signal to locate the origin First, let's look at the inside of the robot You will see that the servo engine includes a DC engine, which is a one-way electric motor A gear, which can be called a gear box And a variable used to determine the position of the rotor See where it is And finally, a control circuit This is the structure of a servo engine You will see that the DC engine usually runs when the power is turned on If you rotate these two poles, it will rotate backwards And the DC engine is attached to a gear box This makes the speed of the DC engine decrease And when the speed decreases, the torque increases This variable has the task of locating When this pole rotates, this variable also rotates This variable rotates, leading to a voltage at the center of the variable Will be measured And thanks to this, the DC engine will determine the current position of the pole This is the basic principle of the servo engine Next, we will learn about some technical parameters of the servo engine When we need to use it First, let's look at the size of the engine There are many types of servo engines Nano, sub-micro, small, standard and large It's quite different The second parameter we need to pay attention to is the power supply Most engines range from 4.8V to 6V I will talk about the servo engines we use to make simple devices For example, robots or models There are other large servo engines that I will not mention here The next technical parameter we need to learn is the material used to make the engine There are usually two types of materials The material inside is plastic or metal For example, as you can see on the screen The white color is plastic The other material is metal With plastic materials, the speed is usually faster But it is not easy to slip the teeth When the external force is too strong, the inside of the tooth will slip On the other hand, a mechanical engine with metal teeth The speed is usually slower And it will consume more power But on the other hand, it is more solid It is not easy to slip the teeth The next parameter of the servo engine we need to understand is speed The speed of the servo engine is calculated as the required time to move the shaft of the servo 1 angle is 60 degrees Usually we will see that the speed drops to about 2.025 seconds Divided by 60 degrees To rotate a 60-degree angle, it takes 2.025 seconds The next parameter we need to pay attention to is the torque Torque is a very important parameter It determines the strength of the engine Torque determines how much torque the servo can apply to the gear 7 Or how much torque the servo can hold When the servo is placed near the gear 7, the torque is greater The further it is, the smaller it is These are some parameters that you need to pay attention to In the robot, we usually use an engine called SG90 In addition, there is a black engine It is bigger and has more power Here we will learn how to connect the engine For the engine that has a few types FUTABA, ZR, HITECH HITECH SG90 The legs will be a little different For example, the FUBATA engine is black The first leg is black, connected to the ground The second leg is red, connected to the source Source 4 to 6 volts The third leg is white, which is the control leg There are only 3 simple legs A source leg, a ground leg, and a control leg The green SG90 engine has yellow, orange, and brown The control leg is white When you use the engine, you can check the weight We usually use 2 engines like this There are a lot of engine applications For example, a robot arm You can see 1 engine, 2 engines, 3 engines Here is another one, 4 Or a robot The more engines we have, the more power we consume So we need a high-performance power supply We need a good quality battery When we use devices that have a lot of weight We should choose engines with metal teeth The weight of the metal teeth should be light In our robot, there is a green servo engine You can see the robot We will use this servo engine Combined with a supercharger To avoid overload The principle is very simple When we go straight If there is no obstacle, we continue to go straight If there is an obstacle, we stop Then we turn the servo engine to the left Measure the distance from the supercharger to the obstacle Next, we turn the engine to the right So that the supercharger can measure the distance to the obstacle Next, we measure the distance from the servo engine to the obstacle We will compare If the distance is greater, we will turn to the right In other words, the principle of the servo engine and the supercharger is the same We will take 3 values The first value is the distance When the servo is at the first angle We will measure the distance from the servo engine to the obstacle If the distance is greater than the obstacle We will measure the distance to the left and right Compare the left and right values And decide which direction to turn The goal of this lesson is to do this Based on the quality of the supercharger and the continuous rotation of the servo We will make this rotation not 3 steps Not left, right and straight We will make it rotate continuously Imagine it is a radar We will determine which direction the object is in In the distance from the servo engine Or to fix it We have a fixed radar In this lesson, we will implement two applications First, we will learn more about the servo engine Now we will move to the simulation software We still remember the Kiskode framework First, we need to find out the servo engine To get the servo engine Click the P button Pick We look for the word motor There are many types of motors Today we will learn about the servo We will find the PWM servo motor We choose Here you will see a motor like this It will have 3 legs In the simulation, the last 2 legs are the main legs We don't need to care about which leg is the servo and which leg is the servo In the simulation In reality, we need to distinguish which leg is the servo and which leg is the servo The leg in the middle is the control leg Now I will simulate First, you will click here You will see the parameters to simulate this servo engine The smallest angle is 90 degrees The largest angle is 90 degrees The total is 180 degrees The speed of rotation is 60 And the spring is 1 millisecond If we don't want 90 degrees We can change 0 to 180 Minimum Control Pulse is 1 millisecond Max is 2 milliseconds This corresponds to the rotation angle from 0 to 180 degrees We need to adjust this to fit the actual engine I set the parameters here Minimum control pulse is 0.54 milliseconds Maximum control pulse is 2.4 milliseconds You will understand why later Now we will simulate First, I haven't used any controller I will simulate this one Let's see how it runs In the Proteus software, there are many tools to help you simulate electronic devices Currently, we have not adjusted anything We just tested this engine First, we need to remove this You just need to double-click on the right You can remove it Now we need to get the power Go to the tool bar 1, 2, 3, 4, 5, 6, 7, 8 Terminal 1 Go to Power To get the power We will connect to the power supply above Ground We will connect to the leg below And the controller here We will connect to a sum Now I will get a sum You can get it here There is a generator mode You can choose Pulse You get it here I got one We will connect this sum to this servo Of course, we have to see the parameters of this sum To know what signal we are giving to this engine To measure the sum, you will need a device called Oscilloscope It is in the form like this If you move to it, you will see that there is no display It is under the Probe Mode It will have the name Oscilloscope Click here This is a device that is very important for computers To measure signals that change rapidly For example, in the form of an oscilloscope There are 4 channels Channel A, channel B, channel C and channel D We can measure 4 signals at the same time Here we only have 1 signal to measure We will connect to the first channel, channel A You can see that channel A corresponds to the waveform The waveform is drawn in yellow We will only care about the yellow color We will connect the channel to the point where we want to measure Now let's look at the parameters of this generator The low voltage is 0V The high voltage is 5V You can see it here The power supply is 5V We will set a sum This is the magnitude of the sum As we have just seen If we set it to 1 ms How much does this generator rotate per angle? We will continue to test You can set it to 1Hz or 50Hz Normally it will be 50Hz You have to choose the right function here Function is sum You don't have to choose C There are many other modes Now let's run it Press play or press F12 You will see a yellow oscilloscope You can see that the yellow line has a slight curve We want to see it clearly First, we will observe the yellow channels A, B, C, D These 4 channels are for 4 different signals Now we don't care about these 3 channels We can turn it off Turn it off, press here Turn it off Turn off channel C There is a yellow channel These are the adjustment buttons for the frequency of the signal This is the adjustment button for the time of the signal If we want to increase the frequency We have to adjust the gauge here You can see that the gauge is set to 5V We will set it to 1V You can see that it is bigger If you want to make it easier to observe We will reduce it Each channel is 0.5mV This is the gauge If we want to increase the frequency We will increase the gauge You can see that there is a square You can see that it is 5mS You can measure it for me This image is a bit small I don't know if you can see it clearly Ok Black and white Ok Can you see it for me? This channel has 1, 2 small channels Each small channel is 5mS Each channel is 5mS We will have 10mS Stop Let's review the parameters I set it to 1V So it's a bit small Now we set it to 5V Ok Play You will see that the frequency We will have 1O, 2O, 3O, 4O and 5O 5O corresponds to each channel We have 5O And about the frequency or time We have 5mS 10mS And the angle of rotation You can see that it is 90 degrees For example I want you to pay attention To know how many degrees You look at the number here It is written as 90 And the point of reference is the blue and yellow poles Normally this yellow pole It will rotate this way The angle is 0 degrees This angle is 90 degrees 1mS will rotate 90 degrees Now we will increase this Increase this We will set it to Now it's not 1mS anymore But we set it to Let's say we set it to 20mS Let's see how many degrees it is It is still 90 degrees Let's see what's wrong Nothing wrong 1mS 1mS is 90 degrees 2mS We get 90 degrees You will see that the angle of rotation of this It will be changed by The frequency of the previous wave We will try another parameter For example, we set it to 1.5mS Let's see how much it is You can see that it returns to 0 degrees Plus 24 This is considered to be 0 With each frequency like that With this thickness Each magnitude of this It will determine the angle of rotation of this engine 1.5mS You will see that it is in the position The starting position is 0 degrees And it keeps increasing Now I will change it very small For example, 1.5mS Now we change it to 1.6mS You can see that it has increased to 18 degrees This is starting to check Next we increase it to 1.7mS You get an angle of 36 degrees Next we will increase it gradually Until this angle returns to 180 degrees Right? But if we increase it by hand That is, every time we press like this Then change So we are doing it manually We are trying to understand how this engine works And what is the conclusion? With the width of the nozzle Attached to this leg It will give us different angles of rotation And with that conclusion Now we can use the video controller This screen We will change the waveform here Not by hand But we will use the program This will rotate the corresponding angles Now we will go back to the software Let's adjust it to make it more automatic Like this We turn on the KISCode software As always, we will choose the block Start And now we will choose There is a block inside Engine block For example, we set For servo At pin Here we will use pin A0 This is pin A0 And in the frame We will mark it as S2 We will connect pin A0 Go straight here Delete this Connect pin A0 and go straight here That is, supply signal from A0 And into the servo engine Right? At that time, we have to leave this source Otherwise it will be stuck together And this oscillator We still leave it to fill the signal Set this to 90 degrees And now we will try a few times See the different degrees First we set 30 degrees Then we will leave it a little bit Next we will set 60 degrees 90 degrees Every time we shoot like this And the last time we shoot 180 degrees And we will edit this program The program has been successfully edited And we will still Every time we click on Select the hack file And you remember It is in the story hack In the kiskode software It has the kiskode story hack You search for it And select kiskodesket.ino Open And F12 Or play Let's run We still set it to 90 degrees So you can't see it Rotate exactly where you want We set it to 0 And plus 180 Time as I said before Set this to 0.54 And this is 2.4 This is what we set To match the engine We use Play You will see 0, 60, 90, 90 I haven't seen 180 Here is 180 But we are missing a command Wait So it will fly back We can't see it Let's re-translate 30, 60, 90 180 You see the response Of the frequency Of this wave 30, 60, 90 180 You see And if we want it to run Continuously We have to use A form Let's use a form Let's leave it Re-insert We go to Back We will choose the form Here I from 1 I from 1 to 180 Increase 1 degree each time And we will set the servo To I Perfect We will put a node here And choose I We will let it run continuously Each time I runs from 1 to 180 Each time it adds a unit I from 1 to 1 degree 1 second later Increase I to 1 I from 2 to 1 second later 3 degrees, 4 degrees, 5 degrees, 6 degrees Up to 180 degrees Let's run If you observe closely It is changing I leave it for 1 second It will take a long time We can increase it We only need 10ms You will see it turn Up to 180 degrees The number 180 does not see Because it turns very fast If we want to reverse We do this I from 180 Each time we run 180 to 1 It is still 0 Each time we retreat You will see it turn Retreat You will see it retreat That's right That is the principle of operation This servo Combine with the principle of the previous supersonic Today we will combine these two things Together To help Supersonic feel A wider area If we run at a very fast speed We will collect a larger area The angle of 30 degrees of the previous supersonic This part I have Asked you to prepare a video Invite you to watch the video here And now we will go to Imitate this servo Instead of the previous servo We will use 3 servos In this servo We only need to use 1 servo With a servo engine First we will run Imitate the servo engine and process it First you will search Then you look for the servo engine Servo And you will get the first one For the supersonic Then you will connect Legs to 0 You pay attention We have 3 legs 2 legs on both sides Is the source And the leg in the middle is the reference leg Imitate 2 legs Is 2 legs on both sides You pay attention Legs on both sides Is 2 legs on both sides As you can see in the imitation We have 2 legs here 2 legs on this leg Now process You can fix it to 2 First we will set it to 90 Next You take the time Or decide to wait a second Now we will try Servo engine to open 1 is angle 90 2 is angle 45 Continue We will wait a second To be able to observe Then we will process After processing You will run the simulation You can see here You can observe Angle 90 Angle 45 As you know Servo engine Now we will process Today We will simulate Servo engine The principle of operation When the servo engine receives the simulation We will stop Then the servo engine will turn to both sides Turn to both sides And check Which side has a wider distance We will turn to that side Now we will process Next We will have a condition If done First, we will check that the value of both sides When it is in the middle Is smaller or larger than the required value Here you will get more digits Get more And here we will get bigger Next you will continue Take the command Set the distance We will enter the value we want You will go to the number table Here I will set the value to 15 If the distance we receive Is greater than 15 That is, before the collision We just have to ask To move forward You can move up And the speed is 200 And if the distance we receive is less than 15 This time You just have to close the door If not We go back to the above The value we receive is less than 15 We will proceed to process The first thing we need is to stop the robot Stop moving We will stop moving for about 500 milliseconds After that we will proceed Return to Percival To be able to read the value You will take the command That is the Percival f1 command 90 Percival f1, Percival f2 You will take f2 And angle We will take the angle 30 Our eyes will turn to angle 30 After we turn Percival to angle 30 We will wait for 500 milliseconds Continue 500 milliseconds To help our eyes stabilize After that We will proceed to read the value You will go to the two sides First You will go to the right You will take the command That is right The value of right Will be read by Percival We will proceed to wait for 100 milliseconds To stabilize After that We will turn Percival to angle 150 degrees This angle will be on the left And similarly We will wait for 500 milliseconds To help Percival stabilize After that We will read the value of left On the left Similarly The left will be read by Percival To recognize After that, we will wait for 100 milliseconds After 100 milliseconds We will run Percival To angle 90 degrees So We have read the two values Right and left Now we will process We will need a command Now we will compare If the right angle is larger than the left We will turn to the right And vice versa If the right angle is smaller than the left We will turn to the left So the command is if We will get another command That is if not We will get a bigger value First We will compare the right angle to the left We will take the command If the right angle is larger than the left We will turn to the right We will take the command Then We will turn to the right With a speed of 1.50 And turn right in 500 milliseconds Time 500 milliseconds Similarly, we will turn to the left Turn left So we have done And to help Percival observe We will add a command To use the data on the computer kservo You will choose the level 96 Here is a command Transmission We will call it the value of the circuit And then you will run You will run it If it is successful You will receive a message Now we will run the simulation We will start running I see here my circuit is 26 26 is larger than 15 So my robot is ahead I will reduce the distance Value up to 50 As you can see Percival has turned right 90 And after reducing the distance Percival has turned to the right With a larger distance To make it easier for you to observe We will quickly load into the body of the robot And to make a robot You will leave the last command We don't need this value Now we will load the robot We will load the robot into the computer We will connect the robot We will turn on the robot We will connect the robot Press the button We will choose the light mode So We can finish this lesson In addition Kservo and Percival There is another useful application We can create a radar Now Let's do the simulation Create a radar from the robot Kservo We will put it on the computer The first thing we need is the initial command Here we will Percival To get Kservo We will go to the loop We will count I I will run at the angle of Kservo But here I only run At an angle of 170 degrees Increase one unit at a time Next We will set the value I is the angle of Kservo You and the engine Will set Kservo at the leg As the simulation We go to the leg A0 We will change To leg A0 We will not leave it fixed Here we will put it in I We will send the data To the computer First We will send the I to the outside You will get That is Transmission Note that we will put At the new line The first thing we send That is our I To know the angle We will set the angle Next You will send a line You will go to the network We will send the line To separate the two data The data we send It will be the value of the leg But we will create a variable Variable Ks I agree This variable we will use the value The leg we get Then we send the data Our Ks And finally we will continue it With the line We send the data To rotate the angle Finally we will need Wait about 10 seconds And so we got Angle from 10 to 170 To rotate According to the leg We will rotate the leg From angle 170 To angle 10 To do this We will increase it by 1 Not 1 And so we are done Now we will see what we can do with the robot And so we are done Now To get the data for the computer We will need A software to support This As you can see The robot is running As you can see The robot is running Now we will set The robot mode The robot will receive The data And so we have Adjusted a part of the robot To become a data You can use this button To do many things So today's lesson is over