#第八届立创电赛#瑞萨RA平衡小车

<div class="document"> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">&nbsp;1、项目功能介绍</h3> <hr class="horizontal-splitline normal-bold-2" /> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">&nbsp;</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="font-weight: 400; font-family: Times New Roman;"><span style="font-size: medium;">1.平衡小车运行模式（通过蓝牙控制）：（1）平衡模式</span><span style="font-size: medium;">（2）</span><span style="font-size: medium;">跟随模式</span><span style="font-size: medium;">（3）</span><span style="font-size: medium;">避障模式。&nbsp; &nbsp;</span><br /><span style="font-size: medium;">2.手机控制小车前进后退转向加减速等。</span><br /><span style="font-size: medium;">3.小车拿起、放下检测（控制小车是否运行）</span><br /><span style="font-size: medium;">4.可通过Type-C数据线与上位机调试</span></span><br style="font-weight: 400;" /><span style="font-weight: 400; font-family: Times New Roman;"><span style="font-size: medium;">5.预留NRF24L01、红外接口、</span><span style="font-size: medium;">多路电源接口</span><span style="font-size: medium;">可以拓展开发</span></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">&nbsp;</p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">2、项目展示</h3> <hr class="horizontal-splitline normal-bold-2" /> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/A3tyBiGPw66RlDxqNRhpDCxsklvLebE5M1zhn1c4.jpeg" alt="" width="768" height="489" /><img src="//image.lceda.cn/pullimage/pMCXAgrYMXOJaBLtsOonklqQeWujUGGllQ78scox.jpeg" alt="" width="750" height="316" /></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/gs7temeEkOrfdYKbgId8doTXSLNyigMyUKJDCG2C.png" alt="" width="750" height="299" /><img src="//image.lceda.cn/pullimage/UjsH9EOlxclO0oKhX1azylMPiJgONUohoZ1EDkW6.png" alt="" width="750" height="298" /><img src="//image.lceda.cn/pullimage/IDMpXQVNF7hsPvXUbMTttDS4jXpgt5Sqar6j1mil.png" alt="" width="750" height="607" /><img src="//image.lceda.cn/pullimage/tLhEZpiFOI917M1uf46tU6WMHeBZxGP8tVoCrJS7.png" alt="" width="750" height="608" /></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">&nbsp;</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">&nbsp;</p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">&nbsp;3、简介</h3> <hr class="horizontal-splitline normal-bold-2" /> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/h1wHOFqjCSxLvlJNYZrj6TshxGzzCRnxbPDOH1ry.png" alt="" width="1024" height="571" /></p> <div style="font-weight: 400;" align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">2串电池产生7.2V，输入到电源模块产生5V，再通过LDO产生3.3V。</span></span></div> <div style="font-weight: 400;" align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">平衡模式：通过MPU6050检测小车姿态，RA MCU控制电机驱动模块控制电机运行，并显示到OLED上。</span></span></div> <div style="font-weight: 400;" align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">跟随模式：小车通过超声波模块检测距离，在一定距离内开启跟踪。</span></span></div> <div style="font-weight: 400;" align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">避障模式：小车直行，通过超声波模块判断前方是否存在障碍物，若遇到障碍物将转弯。</span></span></div> <div style="font-weight: 400;" align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">蓝牙：手机通过与蓝牙模块链接，控制小车运行模式，并可对小车进行控制。</span></span></div> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">&nbsp;</p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">4、硬件部分</h3> <hr class="horizontal-splitline normal-bold-2" /> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/uoW5GopRtEq5XJggdL1C9siF6rKrKHeGDOliJqgk.png" alt="" width="1023" height="682" /></p> <div style="font-weight: 400;" align="left"> <div align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">RA2小板原理图</span></span></div> </div> <div style="font-weight: 400;" align="left"> <div align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">&nbsp;</span></span></div> </div> <div style="font-weight: 400;" align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">平衡小车底板板载串口模块与LDO:</span></span></div> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/uiZTuC7uqnv6Ih40ahmt8L0l0GwhB0BkoMvIPUcf.png" alt="" width="971" height="567" /></p> <div style="font-weight: 400;" align="left"> <div align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">平衡小车底板串口模块</span></span></div> </div> <div style="font-weight: 400;" align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">&nbsp;</span></span></div> <div style="font-weight: 400;" align="left"><span style="font-family: Times New Roman;"><span style="font-size: medium;">电源模块：LM2596S DC-DC降压电源模块</span></span></div> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/1MXI2iw7mSjY4d0scggC0tp3r7pcGy8zslBbmvt0.jpeg" alt="" width="400" height="400" /></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">OLED模块：0.96寸 OLED显示液晶屏模块</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">蓝牙模块：蓝牙3.0模块 SPP透传 兼容HC-05/06从机 JDY-31</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">MPU6050模块：MPU-6050模块三轴加速度+三轴陀螺仪</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">电机驱动模块：TB6612FNG电机驱动模块</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/eRrOImyLHa9CYT8z0o04GkkODOIwypR8XXRiRGh4.png" alt="" width="459" height="107" /></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;">&nbsp;</p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">5、软件部分</h3> <hr class="horizontal-splitline normal-bold-2" /> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;">平衡小车倒下检测：当小车倒下（到达一定角度），停止电机</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/G40rwOvZSE3r6doFRoxU9FC17UqjQsmMLd11cyM3.png" alt="" width="598" height="312" /></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;">平衡小车拿起检测：当小车被拿起来（轮子高速转动一定时间），停止电机</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/oT9YoUvLE8YA3fKouNL7v9gsgLJiF2V1xvJJeCjJ.png" alt="" width="988" height="510" /></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;">平衡小车放下检测：当小车重新被放下一定时间（轮子没有转动并且角度小于一定范围），重新进入平衡模式</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/YHqnlCWwDfSqqou7KBsm9Gq94gHTiyszJnO9Ct8U.png" alt="" width="967" height="688" /><span style="color: #e03e2d;">详细代码见附件</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;">&nbsp;</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;">用到的资源：</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/8FK0iM0rUXkXf5Jfn6xmdWIYo7TvOWqWzjYFIZ1z.png" alt="" width="1022" height="365" />不同参数的电机要更改不同的PID参数，甚至可能要调整定时器时间</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;">&nbsp;</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">&nbsp;</p> </div>