KINH NGHIM LM ROBOCON

BI VIT 1
C l v c bn th ai cng bit l lm robot tham gia cuc thi Robocon th cng phi c s phn cng lao ng mt cch hp l trong 3 lnh vc: mch in t, c kh, lp trnh. Mi lnh vc c nhng c th ring, cn nhng kin thc rt khc nhau. Trong khi sinh vin hin nay c o to theo cc chuyn ngnh, v hc v in t th thng l khng bit nhiu v c kh, hc c kh th li khng bit v lp trnh. Vy yu cu t ra vi mi i nu mun ginh chin thng l phi c c s kt hp. Cc thnh vin trong i nn l nhng ngi c am hiu trong cc lnh vc khc nhau m quan trng nht l c kh v in t, cn lp trnh th ch cn mt ngi kh v tin hc l c th hc c trong mt thi gian khong 2, 3 thng. y l iu kin u tin c th ginh chin thng. Nu khng th ch gi l lm c thi ch khng th lm tt v ch. Ti xin ly v d trong nm 2004. HBKHN ban u c mt phong tro rt mnh, rt nhiu i ang k tham d nhng a s li l nhng ngi cng lp trong 1 i v vy mt tt yu l mi i ch lm tt c mt phn c kh hoc mch in. Ch c i BKHTSI ngay t u c nh gi l kh quan nht vi s gp mt ca Sn-lp trnh + mch v Thanh - c kh. Hai ngi u l nhng ngi c rt nhiu kinh nghim t trc. Vy iu u tin phi xem xt l vn la chn thnh vin.

V lp trnh:

V lp trnh th khng c nhiu phc tp m ch cn chn ngn ng cho ph hp, thng l Asembly v turbo C: Asembly th lp trnh gn vi ngn ng my nn dung lng nh hn nhiu so vi b nh ca vi iu khin 89c51. Cc bn c th lp trnh thoi mi cng ch n 1 K b nh, trong khi b nh ca vi iu khin 89c51 l 4K). - Ngn ng C th l ngn ng lp trnh bc cao hn nn lp trnh d hn nhng li tn b nh hn. Cc bn nn dng chng trnh Reads51 (download ti www.rigelcorp.com). Chng trnh ny h tr c Assembly v C, n li c kh nng gi lp cc cng vo/ra ca h IC 89c51 , nn rt thun tin cho vic lp trnh m khng cn mch in. Nn dng cm bin m vch ring, cm bin bm vch ring vic lp trnh c r rng v kh b ln.

V c kh:
V c kh th tt nht cc bn hy hc theo cch lm ca cc i i trc, xem cch h gn ng c vo xe, cc trc quay... Nu cc bn khng c iu kin xem trc tip ca cc i i trc th ti xin c 1 s kin th ny: Khi bt cc thanh nhm khng nn dng ke m ca 4 gc ca thanh nhm ri b ra bt vo nhau. Khng dng vt m dng inh tn. gn cht bnh vo ng c nn dng vt ch (loi ny c th thu cc ca hng c kh lm h - dc ng La Thnh - H Ni). - Gn ng c vo robot khng nn bng cch ch buc ng c v khi ti nng s lm nghing bnh dn n xe di chuyn khng chun. y c mt vt liu rt c bit l cc cc nha (mua Hng Bng hoc ch Tri - H Ni). Ta em nha i ca thnh hnh hp v khoan l bt vo khung xe, ng thi khoan l to cho vng bi vo, xuyn trc bnh xe qua 2 b vng bi ri mi dng vt ch gn vo trc ng

c nh vy th ng c khng h phi chu lc n no m ch c bnh xe t ln 2 vng bi + khi nha. - Nha trn ta cn c th lm mt b phn rt quan trng l cc l cun. Ta em i tin thnh hnh tr c vnh ngoi ging nh li ch v khoan l trc va bng trc ng c, dng vt ch hoc n gin l que st gn cht vo trc ng c, buc dy c nh vo l cun. Nh vy khi ng c quay ta s cun dy ko vt hay lm chuyn ng cc b phn.

V mch in:
* Thit k mch: - Cc mnh c bn dng cho robot cc bn c th tm trong sch hoc trn mng v vy ti khng trnh by k m ti ch khuyn hy chia ra thnh 3 module ring l: + Mch ca vi iu khin. + Mch ca sensor (cm bin nhn bit vch trng) + Mch ca ng c. C mt hin tng rt hay gp l khi xe chy c mt lc th vi iu khin b treo. L do l c cc xung mnh nh ngc v ngun nui ca vi iu khin lm cho ngun nui khng cn n nh 5V, dn n b treo. Cch x l trit hin tng ny c nhiu bc: + Trc ht c gi nguyn mch ca bn v b sung thm mt h thng cc t (ch cn t loi 1 03 l ), cc t ny bn t chn trc tt c cc ngun nui, song song vi cc cng tc hnh trnh, u ra ca mch sensor, u vo ca cng tc hnh trnh... ni chung l bt k im no thng xuyn xy ra nhng thay i t bin v mc in p. + Th na l nn dng mch ng c theo kiu cu H, s dng Transistor trng, tuyt i trnh dng cc R le trong mch. + S dng b cch ly, thit k mch lm sao phn mch lc (ngun nui ng c, Transistor ng m ng c, cc tr lin quan) v phn mch iu khin (cc tr, cc b o, b logic... linh kin ni trc tip vi vi iu khin ) phi tch bit thnh 2 khu, ch ni vi nhau qua b cch ly. m bo khng c hin tng c 2 Transistor thng hng cng m dn n ni tt mch th phi s dng IC logic (v d 74HCOO: thc ra l 4 NAND bn tm cch t hp trong 4 u ra ca n c 2 cp lun khng cng mt mc logic). Trong mch vi iu khin ch l phi dy dn t thch anh n chn ca vi iu khin l ngn nht. Tc l xp thch anh cng gn chn 1 9,20 ca vi iu khin th cng tt. - rng dy ca phn iu khin nn nh (khong 20 i vi n v inchs) v chy trn n ton l cc tn hiu, cn phn mch lc phi rng (khong 70-90 inchs) v n chu dng ln. - Sau cng ca phn thit k l mt vn nh nhng khng km phn quan trng l nn chia ton b mch ca ta ra thnh cc module ring hay thit k cho tt c

vo mt bo mch. + Nu cc bn khng t lm mch in cc th nn chia thnh cc module ring v s thun li trong vic i t mch in, v vi mi con robot ta li cn s lng cc module khc nhau (v d mi robot thng l 1 bo vi iu khin, 1 bo sensor, nhng c con ch cn 3 bo ng c trong khi con phc tp cn ti 6 - 7 bo ng c). Tuy vy, nhc im l gia cc bo ta phi ni bng dy v gic cm nn c kh nng pht sinh nhiu v ln ln cc dy. + Nu cc bn c th t lm mch in th nn gp chung vo mt bo s khc phc c nhiu v nhiu dy cm. Nhng s c kh khn l vic i dy s rt kh, m nhiu khi buc phi cu dy hoc dng loi mch in 2 lp.

Lm mch in:
Nu ai mi bt u lm robot th thng tp trung vo vic dng bo cm th mch ri khi thy tt ri s mang i thu th lm mch in. Tuy nhin, cc bn s thy s bt tin ca n, khng ch ng, ch lu, v t nn ngi thay i thng phi t nhiu th mi m... v c s kh chu khi gp phi ng th no kh tnh. Ti khuyn cc bn nn tm hiu ngay cch t lm mch in v n khc phc c tt c cc nhc im trn m li r hn rt nhiu. Qua tham kho nhiu cch lm th ti xin gii thiu mt cch m ti thy l d, r v tin li nht ch 5.OOO cho 1 dm2: - Bc 1: Thit k bng Protel, Orcad ta s c c kch thc ca cc chn linh kin sau em in (cch ny nu khng c my in nh th kh v t ca hng in no c Protel v Orcad). Cch khc cho ngi cha tho dng Protel, Orcad th tm cch xut sang rle Autocad, Corel Draw chnh sa ng di dy trc quan nh mnh ang v sau cng em in. Nu l cng khng tho c 2 chng trnh trn th dng cch chp nh mn hnh ri dng Paint chnh sa v ch yu l ta cn khong cch cc chn linh kin. Hai cch sau th vic in d hn v n l nhng nh dng file quen thuc. - Bc 2: Vic in ra th vn dng my in bnh thng nhng vn c bit quan trng l dng giy loi g. Quan tham kho cch lm ca nhiu ni, ti lm theo v thy rng cch r nht l dng giy th cng cao cp Hng H ( loi 2000 - 2500 c 1 chc t A4). Ta s in ln mt c mu. Kt hp vi vic dng Paint hay Word, Autocad ta c th sp xp nhiu bn v vo mt trang in tn dng ti a mt ln in. Bc 3: Mua Fp ng v, t p mt c mu vo mt ng ri dng bn l i 4 cnh trc ri i vo gia n khi thy mc in thm ra sau th c (c mt s ngi cng i nh vy nhng khng thy mc in thm ra sau m vn c v cng khng cn thit phi bn l ch nng nht). Bc 4: Cho tm ng va i xong vo nc l, dng bn chi hay gi lau lm sch phn khng dnh mc in. - Bc 5: Cho tm ng vo dung dch n mn. C th dng dung dch Fecl3 Cn ti dng dung dch vi t l sau: HCL 35% = 1 phn - H2O2 = 1 phn - H2O = 5 phn (ch khi pha s c khi bc ln

mi kh chu v dng kp thao tc v c axt). Ch sau vi pht l c. Bc 6: Dng giy gip loi 1000 hoc gi lau nh ht mc in, ta s c c kt qu. Bc 7: Cng nn ch n vn tm, ph cho mch in c bn p: + Th nht: Mua mt l sn bng Ai 0 gi 14.000 xt ln b mt sau khi khoan v nh giy rp. Sau dng Aceton lau nhng l hn. Ai0 c bng cao, khng dn in, chu c nhit khong 180 - 2000C. m bo mch rt p. + Th hai: Mua 1 chai Aceton (16.000/1) sau chonha thng vo, ch ch ly khong 5cc cho 1000G nha thng bn s c mt dung dch dng keo c th bo v mch rt tt hn na khi hn ch s khng b loang, mch s rt p. tm hiu chi tit hn cc bn c th ln mng tham kho ti a ch: http://www.ttvnol.com/dtvy425748.ttvn Khoan l: ng nhin l khng nn dng cc loi khoan to m tm mua min Bc khng c, ch trong Nam) hoc t ch bng cch mua m t 10 nghn ch ri gn mi khoan 1 ly vo (Hnh km theo). (Bi ny ca tc gi Quang Hng trn TCTDHNN)

CCH B TR SENSOR
1. Dng 6 sensor, hoc 8 sensor
4 con lp pha trn dng bm vch 2 con lp di t m ng t v quay (2 bnh)

00 0 0 0
2. Sensor line thi 4 hay 6 hay 8 chi giai quyet duoc do lech
nhieu hon chu khong tang duoc toc do hoac mn khi d, khong cch ti thiu gia cc sensor l 1,8 cm v vy ti a thm mt cch b tr na: 7 sensor line v 2 sensor m v dng trc bnh pht ng khong 5cm 7sensor line b tr thnh 2 hng 3 trc v 4 sau , trn mt hng cc sensor cch nhau 2 cm, v 2 hng cch nhau 3 cm .

BI VIT 2
1.Tm hiu vic lp trnh cho vi iu khin (thng dng nht hin nay l AT89***).C th lp trnh bng Assembly hoc C 2.Tm hiu cch lm mch in (l nhit hoc in li) c th test mch. Cng c th dng panel chn cm test,khi mch chy ngon c th em i t 3.Tm hiu mch cu H (H-bridge) dng MOSFET iu khin ng c 1 chiu.Ch n hin tng nhiu trong mch 4.Tm hiu v sensor hng ngoi (gm 1 con pht v mt con thu) d ng. 5.Tm hiu v cc kt cu c kh thit k cc h thng truyn ng,cc chi tit... 6.Tuy nhin iu quan trng nht l bn phi c tm huyt v tin bc u t cho n ! __________________ 1) Vi iu khin, loi no cng nh nhau, tham kho ti: http://picvietnam.com/ http://www.diendandientu.com/diendandientu/mvnforum/listthreads?forum=15 http://www.dientuvietnam.net/viewforum.php?f=41 y l mt vi a ch cc bn tham kho 2) Lm mch in, v orcad: http://picvietnam.com/showthread.php?t=54 http://www.diendandientu.com/diendandientu/mvnforum/listthreads?forum=11 3) Mch cu H: Mch ny dng iu khin ng c 1 chiu. Khi c A, B u mc cao th Q1 v Q2 dn bo ha do cc B ca Q4 v Q6 c ni t. Q3, Q5 kha, Q4, Q6 dn. in p 2 cc ng c bng nhau nn ng c ng yn. Tng t, khi A, B u mc thp th ng c cng dng. Khi A mc cao, B mc thp, Q4, Q5 dn, ng c quay. Khi A mc thp, B mc cao, Q3, Q6 dn, ng c quay theo chiu ngc li. Cc diot bo v cc Transistor khi qu p khi o chiu ng c t ngt.

Tuy nhin, ti nu ra vn ch yu ca thi robocon l g, khong phi theo cch bn vit th ny. Nhng ci c bn c ri, l l thuyt, vn thc t l g? 1) La chn ng c? Xe c no, khi lng, kch thc, lm sao c lng ng c c sc khng? Lm mt ci xe bn bnh i, lm mt ci trc, cha ch t ng c, b cc cc nng ln khung xe, em ra mua ng c, th th ti ch lun. Gn ng c vo, xit li, cm in chy th, b thm vt nng cho ging vi d tnh ca mnh... Xem n chy l bit lin 2) Chng nhiu sensor? Chuyn nh, c trm ngi lm ri 3) Xy dng chin thut tng c bn, phi bt u t hai ch fairplay... ng em ci khn vt ca mnh i u vi ngi ta. Cng c t tng fairplay, cng d chin thng. FXR thng bng cch chi rt fairplay (ngay t trong t tng). H lm ra con cn con cn ng, ch khng c tnh cn con robot chnh ca i phng. Bo dn, sng to.. dm ngh dm lm... ng qu ham chin thng, hy lun nh rng, l do bn n vi cuc thi l hc hi, ng bao gi ri b l do ny. 4) Hc hi ng bao gi nghe ai v tng v chin thut hay bt c th g trong cuc thi, bi v 99,5% trong s h u tht bi.

Ch c 1 chin thng trong tng s khong 200 i thi. Khng trao i bt k mt tng no l mt iu ngu ngc, nhng ni qu nhiu th di dt. Hy trao i nhng k thut c bn nh3 ... : My nm trc dng cu H iu khin ng c l thng dng, Nhng nm nay thy dng 1 Tran + 1 Role l thng dng ( n gin l r tin hn v t hng hn ). Cu H trong Robocon c v li thi , ch cn t i dng. Nm nay nhng k thut in t chung v Robocon gn nh ph cp, hu ht cc i u thc hin c , l mt iu tin b vt bc tuy nm nay khng c i no th hin k thut in t ni bt nh FXR, hay PoL nm ngoi nhng nhn chung mc nn nng ln ng k. Khng bit nm sau s pht trin n u. Hy vng nm sau s thy c nhng k thut cao hn, p mt hn. tri !

Kinh nghim nm va ri tui khuyn cc bc v mch cng sut:

1. iu khin ng c no th khng bit ch l ng c chnh(2 ng c di chuyn) th khng bao gi dng rle rt n gin v chng ta phi s dng pwm m lm sao m dng rle bm xung c, 2. Cc ng c khc nn dng rle iu khin cho n gin v chc n nhng nh nn mc thm t chng tia la in-->gy nhiu 3. Khgn nn dng cc ic iu khin chiu ng c v dng nh tn km na 4. Dng mch cu H i m , dng my con mosfet cho n chc bo m hi b ok m r na ch(tui ni r l nhng con mua li nha my con ny cn tt hn my con mi khng tin lm th xem).hm trc tui cho robot no chy m u vo tng vi mch cng sut hi' chng h g mt ri 4. Mt b kp khng bit c ai bit khng l chng nhiu do cc ng c gy ra th ta ch cn gng thm mi ng c mt con ferit th l xong 5. Ni tm li ng cho rng cuc thi robocon l chn th hin cng ngh ci no n gin chy n ta lm th th n khng h lc vt v d sa .in hnh cc bc c thy i no iu khin con bng tay bng hng ngoi khng.khng phi khng lm c nhng n khng n nh nh dy v c th b nhiu. dy cng tt ch sao. Cui cng chc cc bc thnh cng!!!

GC K THUT CA SVBK HN
Bi 1: HNG DN S DNG P89V51RD2 CA PHILIPS
Trong 3 nm qua Philips ti tr mt s lng ng k MCU cho cc i thi Robocon pha Nam thng qua B mn iu khin T ng, Khoa in - in t, Trng i hc Bch Khoa Tp.HCM. y l MCU Philips c tnh n nh cao v c nhiu tnh nng ph hp vi cuc thi Robocon. gip cc bn ln u lm quen vi MCU P89V51RD2 v s dng hiu qu nhng tnh nng cho vic iu khin Robot.Chng ti s c cc bi vit v quy trnh thit k mt Robot t ng s dng MCU P89V51RD2. Rt mong s gp ca cc bn.

Mch np:

Mch np dng MAX232 truyn d liu theo kiu ni tip, c th np trc tip chng trnh t my tnh xung MCU thng qua cng COM. s dng IC c lu v mch iu khin thit k gn, chng ta nn lm mch np ngoi.Chng ti gi km cc file Datasheets, Flash Magic,chng trnh dch. S mch mch np ca MCU P89V51RD2 nh sau

'

Hnh minh ha

Chng trnh np:

Dng Flash Magic (phin bn thng 10 nm 2004)

Bi 2: K THUT IU XUNG PWM

MCU P89V51RD2 C 5 knh iu xung (PWM) t P1.3 - P1.7. S dng rt n gin v linh hot cho vic iu xung. Nu mch cng sut c thit k dng mch cu H th ta iu khin c 2 ng c. Tuy nhin ta c th iu xung c cho 5 ng c nu mch cng sut c thit k bao gm 1 FET v 1 Rle.Trong bi ny chng ti ly 1 v d l chng trnh iu khin vn tc ng c tng dn v gim dn . Cc iu kin c khai bo u chng trnh l bt buc, nn c trc Datasheets hiu r hn. Chc cc bn thnh cng. V d : $mod51fx ;include <mod51fx> : nh ngha cc bin thanh ghi (CCAP0H,CCAP1H,...) ;================ DEFINE BIT ================= ;-------- MOTOR MOTOR1 DATA CCAP0H ; P1.3 MOTOR2 DATA CCAP1H ; P1.4 MOTOR3 DATA CCAP2H ; P1.5 MOTOR4 DATA CCAP3H ; P1.6 MOTOR5 DATA CCAP4H ; P1.7 ;-------- START BIT_START BIT P2.0 ; Nt nhn start

;-------- GI TR IU XUNG PWM_COUNT BIT 50H

; 0 - 255

;=================== MAIN ==================== ORG 0000H MAIN ; Cho php iu xung 5 knh P1.3 - P1.7 MOV CMOD,#0 ;Ch 6 chu k xung nhp = 1/2 chu k my SETB CR ;Cho php PCA (programing counter array) hot ng MOV CCAPM0,#01000010B ; P1.3 PCA hot ng ch PWM 8 bits MOV CCAPM1,#01000010B ; P1.4 MOV CCAPM2,#01000010B ; P1.5 MOV CCAPM3,#01000010B ; P1.6 MOV CCAPM4,#01000010B ; P1.7 ; ; ; ; * Chng trnh iu khin vn tc ng c t 0 - max v t max - 0 trn knh P1.3 * Vn tc ng c t 0 - max ng vi PWM_COUNT t 0 - 255 v ngc li MOV PWM_COUNT,#0 ; ng c dng JB BIT_START,$ ; Cho php ng c chy ; 0 max PWM_COUNT MOTOR1,PWM_COUNT

RUN_UP: INC MOV

LCALL MOV CJNE RUN_DOWN: DEC MOV LCALL MOV CJNE JMP SJMP

DELAY200MS A, PWM_COUNT A,#255,RUN_UP PWM_COUNT MOTOR1,PWM_COUNT DELAY200MS A, PWM_COUNT A,#0,RUN_DOWN RUN_UP $ ; max - 0

;-------- DELAY 200MS DELAY200MS: MOV LOOP200_1: MOV LOOP200_2: MOV DJNZ DJNZ DJNZ RET ;-------END

R2,#2 R0,#200 R1,#250 R1,$ R0, LOOP200_2 R2, LOOP200_1

Mch in : Chng ti thay ng c bng led minh ho. Cc bn c th quan sat thy led tun t sng dn v ti dn sau khi nhn nt start.

Bi 3: CM BIN D NG:
1.CM BIN D NG: a)Cc loi cm bin thng dng: -led hng ngoi: -quang tr: -cm bin cng nghip: gim kinh ph khi lm Robot v th hin ng tinh thn "sng to Robot", theo kinh nghim ca cc i FXR, Basic bot, BKIT, POL ... th vi mch cm bin thng thng vn c nhy tt v n nh cao.Trong vn chng nhiu ta nn dng phn mm v che chn tt. b)mch cm bin:

Ngun cho led pht nn dng n p ring vi VXL.V ng c s dng Robot t ng cng sut nh nn VXL c th dng chung ngun vi ng c.Tuy nhin ta nn s dng diode trc mch n p.FXR v Basic Bot trc y dng chung ngun v hot ng n nh.

2.MT S CCH B TR CM BIN: -B tr 2 led (BKIT_2004):(dng thm led m vch ngang)

-B tr 4 led:

-B tr 5 led(Basic Bot_2004):

-B tr 6 led(FXR_2004):

-B tr 8 led (RLB_2005):

Vic s dng hai hay nhiu led tu thuc vo tng i nhm thun tin trong vn lp trnh d ng .Trong phng n b tr led theo 1 hng ngang th vch trng ngang c xc nh khi tt c cc cm bin u tch cc (hoc an ton v chng nhiu th nn cho php sai s 1 cm bin, v d 5/6 cm bin tch cc th xem Robot ang vch trng ngang). Bi tip theo chng ti gii thiu gii thut d ng 6 led c dng trong cuc thi Robocon 2005...

Bi 4: K THUT D NG
Trong bi ny chng ti gii thiu vi cc bn gi thut Robot d ng. iu khin Robot d ng hin nay c rt nhiu i lm c v rt n nh. Tuy nhin gi thut ca mi i thng theo tng ca ring mnh v theo kinh nghim.Chng ti lm vic theo tinh thn sng to Robot, v vy chng ti ch a ra s gii thut gp cng cc bn xy dng nn mt chng trnh hon ho. Vi mi i nn c mt bn sc cho ring mnh trn c s mt gi thut chung n nh. Gi thut Robot d ng bng 6 led. S b tr :

Ta chia 6 cm bin thnh 13 vng: Ch : ledn cm bin n tch cc. /ledn cm bin n khng tch cc. + Vng trung tm : led3+ led4 +Vng +Vng +Vng +Vng +Vng +Vng +Vng +Vng +Vng +Vng +Vng +Vng tri tri tri tri tri tri 1 2 3 4 5 6 : /led2 + led3 + /led4 : led2 + led3 : /led1 + led2 +/led3 : led1 + led2 : led1 + /led2 :bit nh tri + /led1 : /led3 + led4 + /led5 : led4 + led5 : /led4 + led5 +/led6 : led5 + led6 : /led5 + led6 :bit nh phi + /led6

phi phi phi phi phi phi

1 2 3 4 5 6

Bit nh = 1 khi tt c cm bin lch ra khi ng line theo hng tri (bit nh phi) v theo hng phi (bit nh tri). V d Bit nh phi c set trong trng hp /5led + led6 v c clr khi led4 +led5 ng vi mi vng ta xy dng 1 hm vn tc tng ng c th iu khin vn tc linh hot. Phn iu xung chng ti cp Bi 2.

V d : Vng trung tm : MOV V_bnhphi,#255 MOV V_bnhtri,#255 Vng phi 1: MOV V_bnhphi,#200 MOV V_bnhtri,#255 Ch : Chng trnh d ng t trong Timer 1. Chng trnh qut led v Timer out t trong Timer 2. Cc hot ng ca Robot xy dng thnh cc chng trnh con. V d : cua phi, cua tri, gp qu ... 1 vch trng ngang ng vi trng hp c 4 (hoc 5 hoc 6 led tch cc tu thuc vo mc chng nhiu m ngi lp trnh tu chn). Chng trnh c xy dng sao cho chng trnh MAIN ta ch cn gi chy thng bao nhiu vch ng vi tc bao nhiu, cua tri, phi, gp qu,nhm n gin cho ngi s dng v linh hot khi thay i chng trnh.

Gii thut : MAIN :

 Chng trnh d ng : Timer1 s qut lin tc sau mi 1ms (tu vo gi tr t), s dng khi bit TR1= 0 lc Robot hon thnh xong qung ng cn i.

 Cua 90:

Khi chng trnh d ng ch s dng cm bin thnh cng. Chng ta c th kt hp vi cc thit b nh encoder, la bn tng tnh n inh, chnh xc v linh hot cho Robot. Chc cc bn thnh cng !

Bi 5: GAMEPAD CHO ROBOT IU KHIN BNG TAY

Gamepad cho Robot iu khin bng tay chia lm 2 loi : iu khin t xa bng hng ngoi v iu khin qua dy cp. Nu dng cc mch thu pht hng ngoi thng thng th tnh n nh khi thi u khng cao (!), tt nht nn dng Vi x l (VXL) thu pht theo tn s ring ca mnh (nh POL chng hn). iu khin qua dy cp mang tnh n nh rt cao, y chng ti cp ti cch s dng gamepad qua dy cp. 1.S dng gamepad playstation ca SONY. Kt ni trc tip vo Vi x l. Rt gn khi thit k phn cng, tuy nhin chng ta nn km theo nt Reset VXL trn gamepad tng tnh n nh. y l phng php s dng ca i FXR. Chng ti gi km file hng dn s dng gamepad playstation. 2.Ci to phn mch ca 1 gamepad bt k: Trong mch ca cc gamepad bt k, cc nt nhn c thit k nh l cc cng tc hnh trnh (tc l c 1 im chung ni mass). + Ct b ng mch in ni cc nt nhn vi phn iu khin ca gamepad. + S dng cc nt nhn nh l cc cng tc hnh trnh c lp. a. Truyn ni tip :

Theo cch x l ny chng ta ch s dng cp 4 si : +5v, mass, TXD, RXD. Cch x l ny vn cha n nh tuyt i nhng s dng t Port VXL. Nn km theo nt Reset VXL trn gamepad tng tnh n nh. y l phng php Basic Bot s dng nm 2003 v 2004. b. Truyn song song : Thc cht ta ni tt c cc nt nhn xung thng mch iu khin, khi cc nt nhn ng vai tr nh l nhng cng tc hnh trnh. Phng php ny rt n nh, tuy nhin nhc im l rt tn Port VXL (mi nt nhn ng vi 1 Port).

Cch khc phc nhc im trn : S dng mch dn knh 16 sang 1.

`Phng php ny gim bt c ng k s lng Port VXL, tnh n nh cao.

MUA G U FOR ROBOCONER

TP. HCM
u tin CLB xin gii thiu vi cc bn mt vi a im trong thnh ph gip cc bn mua lm robot : Ch T Uyn ( ch Phm Hu Ch ) ( ng T Uyn - gn BV Ch Ry ) : Chuyn bn bnh xe , bnh rng , l xo , dy ai truyn , nha tm nha thi dng tin ra cc chi tit theo thit k , ... Ch Nht To : Chuyn bn linh kin in t , in tr t , nam chm , dy in , in ... ; ngoi ra pha bn kia ch ( ng Vnh Vin mt tin v trong hm , cng mt s khu vc gn ch ) cn chuyn bn ng c DC , AC , ng c bc , cng tc hnh trnh , hp s tr ng .... Cng ty Tng Lai ( 578 ng 3/2 - gn ch Nht To - t : 9.125.627) chuyn cung cp linh kin in t . Ch st : (gn ch T Uyn) l ni bn c th tm thy bnh rng loi , st tm , st thi , c th t gia cng chi tit nu cn . Cng ty TM E-design ( t : 8506738 - 0903639768 ) Chuyn cung cp mch np chng trnh t my tnh vo IC ( lp trnh robot t ng ). Ch vt liu xy dng ( ng Trnh Hoi c - P.13 - Q.5) chuyn bn nguyn liu nh ng , nhm , st , c vt cc loi , bnh xe , rng rc ... Ca hng st xy dng Tun Cng ( 81 Bn Chng Dng - Q.1 - ch Dn Sinh -t : 8.210664 ) chuyn bn st c l sn , thun tin trong vic kt cu khung vng chc cho robo ( ng nhin ng c ca bn phi c cng sut ln mt cht ! ) gi cng mm : 10.000 --> 13.000 mi mt . Ca hng Thun Pht ( 67 L Nam ( gn i din BV.Ch Ry ) - t 0903.812938 ) chuyn bn Nhm thi , nhm tm , nha thi , nha tm ... cc bn gia cng chi tit . Gn c c s S in ( ng Nguyn Ch Thanh - t : 9070374 - gn i din BV.Ch Ry ) chuyn tin cc chi tit c dng trn xoay t thi nguyn liu , tn bnh rng , bnh xe vo trc ng c , ... ( gi hi t , bn nn tn dng cc chi tit c sn cn thit lm mi t gia cng ) Ca hng nhm 234 ( ng L Thng Kit - P8 - Q.Tn Bnh gn H.BK ) v cc ca hng nhm trn ng ny chuyn bn nhm thanh hnh dng , nhm tm cc kch thc , ... gia cng khung nhm . Ca hng Acquy 25 Trn Hng o - Q1 ( t : 8222869 ) chun bn cc loi acquy kh , ac quy nc , t 6V - 12V - 24V - ... , b np acquy . Cng ty sch thit b trng hc ( 223 Nguyn Tri Phng - P9-Q5- t: 8554645 ) Chuyn bn cc dng c th nghim vt l , ha hc , sinh hc ... ( gi c hi mc v l cng ty c quyn ca nh nc , nhng cc bn c th tham kho nhiu tng ca dng c th nghim ) Cc bn tm c nhng a im tt nh gi bi chia s vi mi ngi nh !!!

Ch H TH K (gc ng Hng Vng v ng H Th K): C bn cc loi acquy c gi tng i mm, theo ti bit th khong t 10.000 -> 20.000 / 1 acquy. Tuy c nhng cht lng cng tng i tt v in th kh n nh. Nu cc bn khng tm c th c th mail cho ti: tanthi01vlhn@yahoo.com, tui s hng dn chi tit cho cc bn. Hin nay ti ang c 2 loi chip 16F877A v 18F458 cng mch np.Nu bn no mun mua th lin h vi ti Gi m bo r hn Nht To nhiu ln .Thm ch cn r hn c PICvietnam na QUOTE 1. Chip: 18F458: 100.000 18F4331: 95.000 16F877A: 75.000 16F876A: 65.000 16F88: 40.000 - C mt s loi chip khc nhng chng ti khng cn nhiu hng (s lng <10 con), bn no c nhu cu mua l th lin lc, chng ti s kim tra v bo li ngay. Xin hy xem bng gi a ch ny: http://picvietnam.com/download/GiaPIC.pdf 2. Mch np: Mch np Falleaf PIC1 + CD phn mm: 50.000 (khng phi 35.000) Mch np Falleaf PIC3 + CD phn mm: 350.000 Thng tin t PICVietNam Cc bn c th tham kho mi thng tin v mt hng y.Bn cng c th hng mi quyn li nh khi mua hng y .Nhng nu mua t ti gi s r hn t 10K-40K (tu s lng ) Lin h qua YIM v email : vivine_wind.