一、本体说明

1. 底盘概述

该底盘是一款模块化的桌面级应用型底盘，基于应用级软件架构设计、应用级硬件系统设计、典型应用型底盘机械系统设计。

底盘本体为一个采用半独立刚性悬挂的四驱全向底盘。

2. 软件环境介绍

操作系统：Ubuntu18.04系统。基于Debian GNU/Linux，支持x86、amd64（即x64）、ARM和ppc架构。

仿真系统：基于开源机器人操作系统ROS melodic和开源软件平台Arduino开发。上位机采用ROS melodic，基于Rviz完成全向移动底盘slam导航运动规划，采用gazebo完成全向移动底盘物理运动仿真；下位机采用Arduino实现对全向移动底盘运动的控制。

注意：准备一个外接显示器。

3. 硬件配置及主要参数

硬件配置及主要参数表

4. 认识底盘的电器接口

① 常用接口说明：

② 扩展电气接口说明：

5. 底盘简化的系统框图

二、驱动及控制

1. 控制底盘单个轮子

实现思路

控制底盘的四个轮子分别转动。

下面我们先来了解一下底盘的总线舵机ID号。

操作步骤

① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_single_bus_steering_gear\Control_single_bus_steering_gear.ino：

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-08-16 https://www.robotway.com/

  ------------------------------*/

/*

*Control single bus steering grar

*

*

///

*        head

* ID:001       ID:000

*    ___________

*   |           |

*   |           |

*   |           |

*   |           |

*   |           |

*   |           |

*   |___________|

* ID:003       ID:002   

*      Rear end

*

* 2020.8.7 by boris

//

*/

#define mySerial Serial2           //Serial port used by bus steering gear

#define Serial_Baud_Rate 115200    //Serial Port baud rate

#define BusServoSerialBaud 115200   //Bus steering gear baud rate

#define wheel_speed_forward 0.08   //wheel forward speed

#define wheel_speed_back -0.08     //wheel back speed

#define wheel_speed_stop 0.0       //wheel stop speed

enum{FORWARD_LEFT=1,FORWARD_RIGHT,BACK_LEFT,BACK_RIGHT,STOP};//wheel named

void setup(){

  delay(1100);Serial.begin(Serial_Baud_Rate);

  mySerial.begin(BusServoSerialBaud);delay(1000);

}

void loop(){

  control_bus_steering_gear_test();// control single bus steering gear

}

void control_bus_steering_gear_test()

{

  Car_Move(FORWARD_LEFT,wheel_speed_forward);delay(1000);Stop_car();   //left front wheel forward

  Car_Move(FORWARD_LEFT,wheel_speed_back);delay(1000);Stop_car();      //left front wheel backword

 

  Car_Move(FORWARD_RIGHT,wheel_speed_forward);delay(1000);Stop_car();   //right front wheel forward

  Car_Move(FORWARD_RIGHT,wheel_speed_back);delay(1000);Stop_car();     //right front wheel backword

 

  Car_Move(BACK_LEFT,wheel_speed_forward);delay(1000);Stop_car();      //left rear wheel forward

  Car_Move(BACK_LEFT,wheel_speed_back);delay(1000);Stop_car();         //left rear wheel backword

 

  Car_Move(BACK_RIGHT,wheel_speed_forward);delay(1000);Stop_car();     //right rear wheel backword

  Car_Move(BACK_RIGHT,wheel_speed_back);delay(1000);Stop_car();        //right rear wheel backword

}

② 将底盘轮子朝上，观察每个轮子的转动效果。

2. 底盘的基本运动

实现思路

实现底盘前进、后退、左平移、右平移、左转、右转的功能。

操作步骤

① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_Car_Movement\Control_Car_Movement.ino：

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-08-16 https://www.robotway.com/

  ------------------------------*/

/*

* car action test (include:forward, back, turnleft,turnright, left translation, right translation)

*                         

*

* IP address of bus steering gear

*        head

* ID:001       ID:000

*    ___________

*   |           |

*   |           |

*   |           |

*   |           |

*   |           |

*   |           |

*   |___________|

* ID:003       ID:002   

*      Rear end

*

* 2020.8.7 by boris



*/

#define ActionDelayTimes 1000

#define mySerial Serial2

#define BusServoSerialBaud 115200

#define wheel_speed_forward 0.08    //car forward speed

#define wheel_speed_back -0.08      //car back speed

#define wheel_speed_stop 0.0        //car stop speed

#define wheel_speed_left 0.08       //car turnleft speed

#define wheel_speed_right -0.08     //car turnright speed

#define wheel_speed_left_translation 0.08   //speed of car left translation

#define wheel_speed_right_translation -0.08 //speed of car right translation

enum{FORWARD=1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP}; //the movement state of the car

float wheel_Speed[4]={0,0,0,0};

char cmd_return[200];

void setup()

{

  delay(1000);

  Serial.begin(57600);delay(1000);//open serial

  mySerial.begin(BusServoSerialBaud);delay(1000);//open serial2

  car_move_test();

}

void loop()

{

   //car_move_test();//car action test

   //car_stop();

}

void car_move_test()//car action test

{

  Car_Move(FORWARD);delay(ActionDelayTimes);          // forward

  car_stop();

  Car_Move(BACK);delay(ActionDelayTimes);             // back

  car_stop();

  Car_Move(LEFT_TRANSLATION);delay(ActionDelayTimes); //left translation

  car_stop();

  Car_Move(RIGHT_TRANSLATION);delay(ActionDelayTimes);//right translation

  car_stop();

  Car_Move(LEFT);delay(ActionDelayTimes);             //turnleft

  car_stop();

  Car_Move(RIGHT);delay(ActionDelayTimes);            //turn right

  car_stop();  

}

② 观察底盘的运动情况。

三、传感器使用

1. 底盘循迹-灰度传感器

实现思路

实现全向底盘可以按指定路线进行行走的功能（实验场景如下图所示）。

操作步骤

① 连接电路。如下图所示是全向底盘上的4个灰度接线，但本实验中我们只需要用到头部的两个灰度传感器即可。

② 下载文末资料中的参考程序Base_Experiment\Tracking_Car\Tracking_Car.ino：

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-08-16 https://www.robotway.com/

  ------------------------------*/

/*

*Tracking Car

*

*        head

* pin:42      pin:44

*    ___________

*   |           |

*   |           |

*   |           |

*   |           |

*   |___________|

* pin:36      pin:34   

*      Rear end

* 2020.8.7 by boris

*/

#define mySerial Serial2         //statement serial2

#define Sensor_Numbers 4         //numbers of sensor

#define Serial_Baud_Rate 115200   //serial port baud rate

#define BusServoSerialBaud 115200//bus steering gear baud rate

#define wheel_speed_forward 0.06 //car forward speed

#define wheel_speed_back -0.06   //car back speed

#define wheel_speed_stop 0.0     //car stop speed

#define wheel_speed_left 0.1    //car turnleft speed

#define wheel_speed_right -0.1   //car turnright speed

enum{FORWARD=1,BACK,LEFT,RIGHT,STOP};//the movement state of the car

const int Gray_Sensor_Pin[Sensor_Numbers] = {44,42,36,34};//define gray sensor pin

const int GraySensorNumbers = sizeof(Gray_Sensor_Pin)/sizeof(Gray_Sensor_Pin[0]);

char cmd_return[200];

void setup(){

  delay(1100);Serial.begin(Serial_Baud_Rate);

  Gray_Sensor_Init();

  mySerial.begin(BusServoSerialBaud);delay(1000);

}

void loop(){

  tracking_car();//car tracking

  //Car_Move(STOP);

}

void Gray_Sensor_Init()//sensor init

{

  for(int i=0;i<Sensor_Numbers;i++)

  {

     pinMode(Gray_Sensor_Pin[i],INPUT);delay(2);

  } delay(200);

}

void tracking_car() //car tracking

{

  int sensor_data[Sensor_Numbers] = {0,0,0,0};

  int sum = 0;

  for(int i=0;i<Sensor_Numbers-2;i++)

  {

     sensor_data[i] = digitalRead(Gray_Sensor_Pin[i]);

     sum |= sensor_data[i] << i;

  }  

  switch(sum)

  {

    case 0: Car_Move(FORWARD); break;

    case 1: Car_Move(LEFT); break;

    case 2: Car_Move(RIGHT); break;

    case 3: Car_Move(FORWARD); break;

    default: break;

  }

}

③ 观察全向底盘循迹的效果。

2. 底盘避障-超声测距

实现思路

实现全向底盘可以在模拟的场景下进行避障然后行进的功能（实验场景如下图所示）。

操作步骤

① 连接电路，如下图所示是全向底盘的8个超声测距接线图。

② 下载文末资料中的参考程序Base_Experiment\Avoiding_Obstacles_Car\Avoiding_Obstacles_Car.ino：

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-08-16 https://www.robotway.com/

  ------------------------------*/

/*

* Avoid obstacles car

*

*

*   车身位置及传感器接线:

*

* // Y

* // |

* // |

* // |              t:53                   t:8  

* // |     (ID:003) e:A15                  e:9   (ID:001)

* // |   t:37    A - - - - - - - - - - - - - - - - - -Y: t:39

* // |   e:38    |                                    |   e:40

* // |          |                                    |         车头

* // |   t:31    |                                    |   t:45

* // |   e:32    Z - - - - - - - - - - - - - - - - - -X: e:46

* // |     (ID:002) t:47                   t:A13   (ID:000)

* // |              e:48                   e:A14

* // 0-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- X

* 

*  

* 2020.8.7 by boris

*/

#define mySerial Serial2            //Serial port used by bus steering gear           

#define Serial_Baud_Rate 115200     //Serial Port baud rate

#define BusServoSerialBaud 115200   //Bus steering gear baud rate

#define wheel_speed_forward 0.04    //car forward speed

#define wheel_speed_forward_up 0.06 //forward speed up

#define wheel_speed_back -0.04      //car back speed

#define wheel_speed_stop 0.0        //car stop speed

#define wheel_speed_left 0.1      //car turnleft speed

#define wheel_speed_right -0.1    //car turnright speed

#define wheel_speed_left_translation 0.04   //speed of car left translation

#define wheel_speed_right_translation -0.04 //speed of car right translation

enum{FORWARD=1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP,FORWARD_UP}; //the movement state of the car

char cmd_return[200];

float wheel_Speed[4]={0,0,0,0};

void setup(){

  delay(1100);Serial.begin(Serial_Baud_Rate);

  init_Ultrasonic();delay(200);

  mySerial.begin(BusServoSerialBaud);delay(1000);

}

void loop(){

  //Car_Move(STOP);delay(1000);

  car_move();

  //get_ultrasonic_sensor_data();

}

③ 观察全向底盘避障的效果。

程序源代码详见桌面级全向底盘