Hng dn lp rp & lp trnh xe

1 Tng quan lp rp xe

Hnh 1. Xe ua MCR (ngun t JMCR) Kch thc ti a cho b rng ca xe l 300 mm, b cao l 150 mm. Chiu di, trng lng, v cht liu ca xe l ty .

2 Cu to xe
Cu to xe MCR bao gm 3 b phn chnh: 2.1 B x l trung tm (CPU board)

Hnh 2. CPU board

2.1.1 Chc nng iu khin cc hot ng chnh ca xe. 2.1.2 Cch hot ng Nhn tn hiu t b cm ng d ng a ra quyt nh x l cho xe nh: quo sang tri, quo sang phi, tng tc , gim tc motor, 2.2 B cm bin d ng (Sensor board)

Hnh 3. Sensor board (ngun t JMCR) 2.2.1 Chc nng Gip nh hng cho xe thng qua cc sensor cm ng. 2.2.2 Cch hot ng Cc sensor s cm bin vi cc mu (en, trng) trn mt ng v chuyn thnh tn hiu s 0 hoc 1 n CPU board. 2.2.3 Chi tit cu to v cch lp rp Xem ti http://www.selab.hcmuns.edu.vn/mcr/cadocuments/03_Sensor_Board_Assembly.pdf

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B iu khin ng c xe (Motor drive board)

Hnh 4. Sensor board (ngun t JMCR) 2.3.1 Chc nng L mt bng mch in dng kt ni vi 2 ng c ca xe, v kt ni vi Servo. 2.3.2 Cch hot ng B iu khin ng c s nhn cc tn hiu t CPU board iu khin 2 ng c xe, v Servo. 2.3.3 Chi tit cu to v cch lp rp Xem ti http://www.selab.hcmuns.edu.vn/mcr/cadocuments/04_Motor_Driver_Board_Assembly. pdf

Lp rp mt chic xe hon chnh

Sau khi lp rp cc 3 b phn chnh yu ca xe trn. Tip theo ta s lp rp 3 b phn ny vi cc thnh phn khc li thnh mt chic xe MCR hon chnh. Xem ti http://www.selab.hcmuns.edu.vn/mcr/cadocuments/05_Basic_Assembly.pdf 3.1 Cch to si dy RS232

Si dy RS232 dng kt ni CPU board ca xe vi cng COM ca my tnh.

Hnh 5. Dy RS232 (ngun t JMCR) 3.1.1 Chc nng Truyn chng trnh c bin dch ra m nh phn trn my tnh xung CPU board. 3.1.2 Chi tit cu to v cch lp rp Xem ti http://www.selab.hcmuns.edu.vn/mcr/cadocuments/06_Cable_making.pdf 3.2 Cch hot ng ca xe, cch np chng trnh cho xe, v source code chng trnh mu

nm r cch hot ng ca xe v lm th no np mt chng trnh cho mt chic xe. Xem ti http://www.selab.hcmuns.edu.vn/mcr/cadocuments/07_Operation_Confirmation.pdf Trong link trn bao gm source code chng trnh mu iu khin xe.

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Gii thch source code chng trnh mu

Hnh 6. S trng thi ca chng trnh mu (ngun t JMCR) hiu chi tit source code ca chng trnh mu lm th no iu khin mt chic xe ua. Xem ti http://www.selab.hcmuns.edu.vn/mcr/cadocuments/08_Program_Explaination.pdf