From 61b17063d9402c8dd213406d89899a81d0b48374 Mon Sep 17 00:00:00 2001 From: "zhenghaonan@autolabor.com.cn" Date: Thu, 30 Nov 2023 11:04:55 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BC=A0m2=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .DS_Store | Bin 6148 -> 6148 bytes Readme.md | 8 +- abc.md | 1 - 底盘/.DS_Store | Bin 0 -> 6148 bytes 底盘/ChassisM2.md | 204 +++++++++++++++++++++++++++++++++++ 底盘/CustomAutocan.md | 168 +++++++++++++++++++++++++++++ 底盘/conf.json | 66 ++++++++++++ 底盘/img/.DS_Store | Bin 0 -> 6148 bytes 底盘/img/1.png | Bin 0 -> 184134 bytes 底盘/img/2.png | Bin 0 -> 377781 bytes 底盘/img/canbus_driver.png | Bin 0 -> 40685 bytes 底盘/img/crc8-maxim.png | Bin 0 -> 79154 bytes 底盘/img/pm1_driver.png | Bin 0 -> 29301 bytes 底盘/intro.md | 108 +++++++++++++++++++ 底盘/overview.md | 49 +++++++++ 底盘/use.md | 119 ++++++++++++++++++++ 16 files changed, 721 insertions(+), 2 deletions(-) delete mode 100644 abc.md create mode 100644 底盘/.DS_Store create mode 100644 底盘/ChassisM2.md create mode 100644 底盘/CustomAutocan.md create mode 100644 底盘/conf.json create mode 100644 底盘/img/.DS_Store create mode 100644 底盘/img/1.png create mode 100644 底盘/img/2.png create mode 100644 底盘/img/canbus_driver.png create mode 100644 底盘/img/crc8-maxim.png create mode 100644 底盘/img/pm1_driver.png create mode 100644 底盘/intro.md create mode 100644 底盘/overview.md create mode 100644 底盘/use.md diff --git a/.DS_Store b/.DS_Store index 73ca0e53b464b60dc8240da0d264f2bccc53e594..96d584cc309ca92ccca11ac851fea37a44aee8ac 100644 GIT binary patch literal 6148 zcmeHKJ&zMH5FO_hZbLvy0Vt&<+9)Iu5}dACLMUi&5fpsnc5kEH!tOdsHW#5N($+wW z_yhE`{DG4wsSrIs1ZKvL$X*T#3WOq$WIuamo*h4H?HB+=Zx(d`>Hy$kA#^Tbb&gS- z%7#^p=Q5(8F_KZoKT_#l{+sKNmZA%F-{#1_`kgG3#fS?EZj8CpNshya!6?@qp*$@zF* zPB@>A%{ZUJaS~7ScKfTS>^K)L?z+2f&3)z{tGS;C`E1$?CQqpMP^lzbwS(|cJe&{e zSMRAT58`Y%VL}`YG3DvwIE&Q0r)F6+Wv;ISZq=<0>W#&s+wC-E_jYI5l#9J?yD4w& z-B~WH?zI~?_YVdylQdJWc|{=bIa0PF$!RsyUO6|qz%D=uN?>~J0-q1V3oK*eV zjkB@RPSn28e9SrVCt0Gh5%yQViDK5aRROchZf#o^XxC*GunPRO0(3q|EQFrHLL(m? zSn(48(LpyGw&~&~jx^{QEHq*SO=v2jrV8`K5SosDY4SXSg+@&WVICjC%q+|cMeyu6 zzT|Weo<>_+1*`&P1$K0|PWS))-@pIMB-^tJSOvC90paxheh-&q?$(XP(OoOC9AY7( oyh0;Wurk*%H|Q#EU}3|Uqz0mAu+WGeH2X(@Ww4c1;GZh+6RaGYjQ{`u delta 157 zcmZoMXfc=|#>CJ*F;Q%yo+2a5!~knXmdQLUQnATR3=9k`40;Ud44Diix%nfgM7=FE$EnSC{!w{3WL_*xEts7b^#HH)XfddzUK;lECX`(hFiK`@S4^^d} zfg3-BD|f_S;C~=~06hMfNR`5|nvh?~er&(*W7m&kyCx#mo%*LlHW67!0;~JTHkj~> zRI(l2asXtqkBmaf=n0+CaVgp~7zK<1*G&PjcMs^2#x%grE$-i#{KpX=dJ*>!g9Czn z03QF6CZ}P8Hw7mrPBC4eEJ{Q4lwkjt`9HxrFYqfkEn*t2k3uP;zLulBc{b6%<%>6o z!Ypq#zq6f6^~Ua=wP)3>H}06v-F%Qwv+f{$C2G$&kG!k$zn5c=skN261B$m5B0?f>}n#}o5jPtVi3cPCif{`l>p==J~M zos0{;)*aEg9&hHRNyL*8TEwrjpnQVWO0ixWR*F6&rnu5|#LXx`{0z*1<{Mcr!8$3d z+^+mOf=#jP5V6H?0aasLRzQEJR(;Fkn&FHBMuF?EfH)rOm>!ww7YdW3qkl(+6YD56 zxlzC9X>#JOb&%d72@`QEg_43y jU&pc_uHqvkY4ACs0PJX7DMSm*{1K2cn9L}!RRw+ncj&SB literal 0 HcmV?d00001 diff --git a/底盘/ChassisM2.md b/底盘/ChassisM2.md new file mode 100644 index 0000000..3238def --- /dev/null +++ b/底盘/ChassisM2.md @@ -0,0 +1,204 @@ +# Autolabor M2 ROS 驱动模块 + +## 1. 介绍 +Autolabor ROS驱动模块包含**CANBus驱动**和**Autolabor M2底盘驱动**,其主要功能包括与Autolabor_CANbus模块通信,并通过线速度和角速度控制Autolabor M2底盘行驶。 + +#### 特性 + +- 可直接获取CANBus网络内数据,并通过CAN指令控制车辆 + - 获取动力轮编码器原始数值(角速度) + - 获取转向轮编码器原始数值(角速度) + - 分别控制动力轮的转速(角速度) + - 控制转向轮的绝对转向角度 +- 可通过线速度与角速度控制移动底盘,无需单独控制前轮转向 +- 提供实时机器人底盘位置信息,方便闭环控制 +- 双动力轮电子差速控制,保证机器人在行驶过程中始终满足阿克曼原理 +- 根据前轮转向优化车辆运动速度,在保证车辆在行驶精度前提下,确保车辆行驶的流畅性 + +## 2. 节点 + +### 2.1 canbus_driver +该节点提供与底层AutoCan的通讯,将CAN网络中的数据进行解析并发布至canbus_msg话题中,并开启canbus_server服务,提供其他节点调用,用以发送CAN指令到CAN网络中。 + +该节点的结构如图所示: +
+ +
+ +#### 2.1.1 订阅话题 + +无 + +#### 2.1.2 发布话题 +/canbus_msg ([autolabor_canbus_driver/CanBusMessage](doc/CanBusMessage.md)) +~~~ +将底层CAN网络中的数据发布在ROS话题中,提供其他节点读取 +~~~ + +#### 2.1.3 服务 +/canbus_server ([autolabor_canbus_driver/CanBusService](doc/CanBusService.md)) +~~~ +提供其他节点调用,用于往底层CAN网络中发布指令 +~~~ + +#### 2.1.4 参数 +~port_name (str, default: /dev/ttyUSB0) + +~~~ +CANBus串口端口名 +~~~ + +~baud_rate (int, default: 115200) +~~~ +CANBus串口波特率 +~~~ + +~parse_rate (int, default: 100) +~~~ +数据解析器从串口获取新数据的频率 +~~~ + +### 2.2 M2_driver + +此节点主要用于接收用户发送的速度信息,控制转向轮转动,并根据后轮当前角度结合阿克曼模型优化求解动力轮的转动速度,控制移动底盘进行移动,同时根据动力轮编码器的反馈,输出轮速里程计信息。 + +该节点结构如下: + +
+ +
+ +#### 2.2.1 订阅话题 + +/cmd_vel ([geometry_msgs/Twist](http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html)) + +``` +外部节点发送的速度信息 +``` + +/canbus_msg ([autolabor_canbus_driver/CanBusMessage](doc/CanBusMessage.md)) + +``` +由canbus_driver发送的底层CANBus消息,其中包含转向轮当前绝对编码器以及动力轮的编码器信息 +``` + +#### 2.2.2 发布话题 + +/odom ([nav_msgs/Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html)) + +``` +根据动力轮以及转向轮的编码器信息,依据车辆运动模型,计算出的轮速里程计信息 +``` + +/wheel_angle ([std_msgs/Float64](http://docs.ros.org/api/std_msgs/html/msg/Float64.html)) + +``` +前阿克曼转向轮实时绝对转角,单位rad +``` + +#### 2.2.3 服务 + +/reset_odom ([std_srvs::Empty](http://docs.ros.org/api/std_srvs/html/srv/Empty.html)) + +~~~ +里程计清零,将里程计的原点放置在执行指令的位置 +~~~ + +#### 2.2.4 参数 + +~odom_frame (str, default: odom) + +``` +里程计坐标系名称 +``` + +~base_frame (str, default: base_link) + +``` +移动底盘坐标系名称 +``` + +~poller_rate_hz (int, default: 20) + +``` +查询底盘参数的频率,单位 Hz +``` + +~publish_tf (bool, default: true) + +``` +设置是否发布odom->base_link的TF转换 +``` + +#### 2.2.5 TF转换信息 + +odom -> base_link + +``` +提供车体坐标系与里程计坐标系间转换关系 +``` + +## 3 ROS使用说明 + +### 3.1 底盘连接 + +将M2的串口线插入笔记本电脑或工控机,打开底盘电源和急停开关 + +打开Terminal输入 + +``` +ll /dev/ttyUSB* +``` +查看是否有设备列表,如果没有设备,请检查底盘与电脑的连接情况,如果设备多于一个,请通过拔插其他传感器设备,确定底盘的对应的设备节点名,假设节点名为 /dev/ttyUSB0。 + +### 3.2 源码编译与执行 + +下载源码 + +``` +mkdir ~/github_ws +cd ~/github_ws +git clone http://git.autolabor.com.cn/Autolabor/autolabor_m2_ros_driver.git +``` +编译源码 + +``` +cd m2_driver_ros/ +catkin_make +``` +加载环境变量 + +``` +source devel/setup.bash +``` +修改launch文件参数 + +``` +gedit src/autolabor_canbus_driver/launch/m2_driver.launch +``` +定位 +``` + +``` +将value值改为之前查看的车底盘的设备节点名,修改后保存并关闭 + +执行launch文件 + +``` +roslaunch autolabor_canbus_driver m2_driver.launch +``` +如果成功执行到这一步,并且没有发现任何错误,则车底层驱动就已经启动完毕,这个时候只要启动相应的控制节点就可以控制车底盘行走了。 + +### 3.3 控制向前直行 + +打开一个terminal + +执行 rostopic list 查看有无/cmd_vel 话题 + +如果有的话,执行: + +``` + rostopic pub -r 10 /cmd_vel geometry_msgs/Twist -- '[1.0,0.0,0.0]' '[0.0,0.0,0]' +``` + +此时车轮会开始转动,如果想要停止的话,必须在执行命令的terminal中执行Ctrl+C,停止发送。 \ No newline at end of file diff --git a/底盘/CustomAutocan.md b/底盘/CustomAutocan.md new file mode 100644 index 0000000..0def465 --- /dev/null +++ b/底盘/CustomAutocan.md @@ -0,0 +1,168 @@ +# AutolaborM2串口通讯协议 + +AutolaborM2采用串口通讯,通讯波特率为***115200***。通讯消息分为无数据域和有数据域两种类型。其中无数据域类型主要用于查询指令。 + +串口连接成功后,能收到机器人上报的里程计消息和车辆速度、转角消息,可依此作为机器人连接的判断。当前车辆上报得到左轮轮速和右轮轮速是直接从编码器给出的***角速度***,单位为rad。如果需要知道车轮线速度,则需要查询车辆轮半径,根据轮半径计算出车轮线速度。比如,角速度10rad/s,车轮半径0.15m,则线速度v = 10 * 0.15 = 1.5m/s + +机器人有三种急停方式:硬件开关急停、手柄远程急停、软件消息急停。三种急停均可使得车辆立即停止。其中***硬件急停优先级最高***,直接切断电机供电。在发送急停消息后,可根据查询机器人状态信息来判断是否成功进入急停。如果发现机器人进入急停状态,可根据查询消息,判定急停触发的来源。 + +车辆的运动控制采用两轮自行车模型,控制量为***前轮转角和后轮转速***。其中转速为***相对速度***,需要用户根据查询到的车辆最大速度,计算出相对速度大小。比如,查询到车辆最大速度为2m/s,想要让车辆按照1m/s的速度运行,则需要发送 v = 1/2 = 0.5。 + +## 1、两种数据消息 + +* 无数据域消息 + * 长度:6字节(1字节帧头0xFE + 4字节消息类型 + CRC8校验) + +* 有数据域消息 + * 长度:14字节(1字节帧头0xFE + 4字节消息类型 + 8字节数据 + CRC8校验) + +## 2、查询指令 + +* 查询指令: + * 4字节消息类型:0x0D,0x00,消息ID,0x00 +* 反馈指令: + * 4字节消息类型:0x2D,0x00,消息ID,0x00 + * 8个字节的数据字节解析参考下面的表格,不同消息ID解析方式不同。 +* 针对不同指令,只有第三位消息ID不同。 + + +| 消息ID | 内容 | 格式| 读/写|备注| +| --- | --- | --- | --- | --- | +| 0x80 | 状态 |无数据域
[0]运行状态[1]-[7]保留|写
读|0x10:正常运行 0xff:急停状态| +| 0x02 | 重置里程计 |无数据域|写|里程计的方向清零,即车辆朝向清零| +| 0x11 | 剩余容量百分比 |无数据域
[0] uint8 [1]-[7]保留|写
读|
[0,100]% (采样频率=1Hz)| +| 0x12 | 剩余可用时间 |无数据域
[0][1][2][3] uint32 [4]-[7]保留|写
读|
[0,360000]s (采样频率=1Hz)| +| 0x13 | 剩余容量 |无数据域
[0][1][2][3] uint32 [4]-[7]保留|写
读|
[0,5000000]mAh (采样频率=1Hz)| +| 0x14 | 电池电压 |无数据域
[0][1] uint16 [2]-[7]保留|写
读|
[0,500000]mV (采样频率=1Hz)| +| 0x15 | 电池电流 |无数据域
[0][1][2][3] uint32 [4]-[7]保留|写
读|
[-750000,750000]mA 正:电池充电,负:电池放电(采样频率=1Hz)| +| 0x16 | 手柄数据 | 无数据域
[0]-[7]详见 [手柄消息结构定义](#gamepad-struct) |写
读| | +| 0x17 | 急停开关 | 无数据域
[0]bool[1]-[7]保留|写
读|
0:正常 1:急停 | +| 0x18 | 查询软急停 | 无数据域
[0]bool[1]-[7]保留|写
读|
0:正常 1:急停 | +| 0x19 | 查询手柄急停 | 无数据域
[0]bool[1]-[7]保留|写
读|
0:正常 1:急停 | +| 0x1a | 查询最大线速度 | 无数据域
[0]-[3]float [4]-[7]保留 |写
读| 根据车轮大小计算出的最大线速度(m/s) | +| 0x1b | 查询最大转角 | 无数据域
[0]-[3]float [4]-[7]保留 |写
读| 根据机械结构得到的最大转角(rad) | +| 0x1c | 查询车辆宽度 | 无数据域
[0]-[3]float [4]-[7]保留 |写
读| 根据机械结构得到的车宽(m) | +| 0x1d | 查询车辆长度 | 无数据域
[0]-[3]float [4]-[7]保留 |写
读| 根据机械结构得到的车长(m) | +| 0x1e | 查询轮半径 | 无数据域
[0]-[3]float [4]-[7]保留 |写
读| 根据机械结构得到的车轮半径(m) | + +***范例*** + +| 指令 | 单位| 写字节流 | 反馈字节流 |含义 | +| ------------- | ------------- | ------------- | ------------- | ------------- | +|状态查询||0xFE,0x0D,0x00,0x80,0x00,0xB2|0xFE,0x2D,0x00,0x80,0x00,0x10,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x09| 状态正常 | +|重置编码器||0xFE,0x0D,0x00,0x02,0x00,0x0C|| +|剩余容量百分比||0xFE,0x0D,0x00,0x11,0x00,0xB5|0xFE,0x2D,0x00,0x11,0x00,0x64,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x79|容量100%| +|剩余可用时间|秒|0xFE,0x0D,0x00,0x12,0x00,0xE0|0xFE,0x2D,0x00,0x12,0x00,0x50,0xC3,0x00,0x00,0x00,0x00,0x00,0x00,0xCC|剩余50000s| +|剩余容量|mAh|0xFE,0x0D,0x00,0x13,0x00,0x24|0xFE,0x2D,0x00,0x13,0x00,0x50,0xC3,0x00,0x00,0x00,0x00,0x00,0x00,0x02|剩余50000mAh| +|电池电压|10mV|0xFE,0x0D,0x00,0x14,0x00,0x4A|0xFE,0x2D,0x00,0x14,0x00,0x7D,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x99|1.25V| +|电池电流|1mA|0xFE,0x0D,0x00,0x15,0x00,0x8E|0xFE,0x2D,0x00,0x15,0x00,0x4D,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x5A|2.125A| +|急停开关||0xFE,0x0D,0x00,0x17,0x00,0x1F|0xFE,0x2D,0x00,0x17,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x58|急停开关按下| +|查询软急停||0xFE,0x0D,0x00,0x18,0x00,0x07|0xFE,0x2D,0x00,0x18,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x26|软急停触发| +|查询手柄急停||0xFE,0x0D,0x00,0x19,0x00,0xC3|0xFE,0x2D,0x00,0x19,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xE8|手柄急停按下| +|查询最大线速度|m/s|0xFE,0x0D,0x00,0x1A,0x00,0x96|0xFE,0x2D,0x00,0x1A,0x00,0x00,0x00,0xC0,0x3F,0x00,0x00,0x00,0x00,0x94|最大线速度1.5m/s| +|查询最大转角|rad|0xFE,0x0D,0x00,0x1B,0x00,0x52|0xFE,0x2D,0x00,0x1B,0x00,0x92,0x0A,0x06,0x3F,0x00,0x00,0x00,0x00,0xBC|最大转角:0.523Rad(30度)| +|查询车辆宽度|m|0xFE,0x0D,0x00,0x1C,0x00,0x3C|0xFE,0x2D,0x00,0x1C,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,0x9D| 0.5m| +|查询车辆长度|m|0xFE,0x0D,0x00,0x1D,0x00,0xF8|0xFE,0x2D,0x00,0x1D,0x00,0x66,0x66,0x26,0x3F,0x00,0x00,0x00,0x00,0x83| 0.65m| +|查询轮半径|m|0xFE,0x0D,0x00,0x1E,0x00,0xAD|0xFE,0x2D,0x00,0x1E,0x00,0x9A,0x99,0x19,0x3E,0x00,0x00,0x00,0x00,0xD2| 0.15m| + +## 3、控制指令(有数据域消息类型) + +* 运动控制(v,theta) + * 运动控制具有超时机制,需要在200ms内发送一帧数据,否则会认为数据超时,车辆停止运动。 + * v: 车辆最大速度的百分比,取值范围[-1,-1],对应从倒退最大速度到前进最大速度。 + * theta: 前轮转角,单位rad,弧度制。车辆向左转为正。 + * 4字节消息:0x2D,0x00,0x01,0x00 + * 8字节数据:前4字节表示v,后4字节表示theta + * 数据类型:float + * 范例:0xFE,0x2D,0x00,0x01,0x00,0xCD,0xCC,0xCC,0x3D,0xCD,0xCC,0x4C,0x3E,0x82 + * 指令含义:v:0.1相对速度,theta:0.2rad + +* 紧急停止指令(Emergency) + * 急停触发:0xFE,0x2F,0xFF,0xFF,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDA + * 急停解除:0xFE,0x2F,0xFF,0xFF,0x00,0x10,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x53 + * 该消息可以直接关停底盘的电机输出。 + + +## 4、反馈消息 + +反馈消息将持续发送,40ms间隔。可以使用反馈消息作为车辆连接的依据。 + +* 里程计xy坐标 + * 车辆上电后的位置,为里程计原点,车头方向为x,车左侧为y。 + * 4字节消息类型:0x2D,0x00,0x21,0x00 + * 8字节数据内容:前4个字节为x坐标,单位m。后字节为y坐标,单位m。 + * 数据类型为float + * 范例:0xFE,0x2D,0x00,0x21,0x00,0xCD,0xCC,0xCC,0x3D,0xCD,0xCC,0x4C,0x3E,0x1A + * 说明:x:0.1m y:0.2m + +* 里程计朝向 + * 车辆上电后的朝向,为0方向,逆时针为正。 + * 4字节消息类型:0x2D,0x00,0x22,0x00 + * 8字节数据内容:前4个字节为朝向角,单位为rad。 + * 数据类型为float + * 范例:0xFE,0x2D,0x00,0x22,0x00,0x9A,0x99,0x99,0x3E,0x00,0x00,0x00,0x00,0xD9 + * 说明:0.3rad + +* 左电机速度 + * 4字节消息类型:0x2D,0x11,0x11,0x00 + * 8字节数据内容:前4个字节为速度,单位rad/s + * 数据类型:float + * 范例:0xFE,0x2D,0x11,0x11,0x00,0xCD,0xCC,0xCC,0x3D,0x00,0x00,0x00,0x00,0xC5 + * 含义:0.1rad/s,如果要转换为m/s,需要乘以车轮半径 + +* 右电机速度: + * 4字节消息类型:0x2D,0x10,0x11,0x00 + * 8字节数据内容:前4个字节为速度,单位rad/s + * 数据类型:float + * 范例:0xFE,0x2D,0x10,0x11,0x00,0xCD,0xCC,0x4C,0x3E,0x00,0x00,0x00,0x00,0xB4 + * 含义:0.2rad/s,如果要转换为m/s,需要乘以车轮半径 + +* 转向角度: + * 4字节消息类型:0x2D,0x20,0x11,0x00 + * 8字节数据内容:前4个字节为角度,单位rad + * 数据类型:float + 范例:0xFE,0x2D,0x20,0x11,0x00,0xCD,0xCC,0xCC,0x3D,0x00,0x00,0x00,0x00,0x26 + * 含义:0.1rad,正方向为向左转 + + +## 5、CRC8校验 + +* 使用CRC-8/MAXIM方式计算 + +* 示例:在线计算crc8 + +![img](img/crc8-maxim.png) + + + +* 查表法计算crc8 + +``` +const uint8_t CRC8Table[]={ + 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65, + 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220, + 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98, + 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255, + 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7, + 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154, + 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36, + 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185, + 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205, + 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80, + 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238, + 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115, + 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139, + 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22, + 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168, + 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53 }; + +uint8_t can_crc8_calculate(uint8_t *p, uint8_t counter) +{ + uint8_t crc8 = 0; + for( ; counter > 0; counter--){ + crc8 = CRC8Table[crc8^*p]; + p++; + } + return(crc8); +} +``` diff --git a/底盘/conf.json b/底盘/conf.json new file mode 100644 index 0000000..5142037 --- /dev/null +++ b/底盘/conf.json @@ -0,0 +1,66 @@ +{ + "_readme": [ + "注:uri 必须保障唯一性,若有重复引用,请使用 rewrite 注册新的 uri", + "由于设计缺陷,rewrite 时只能自定义最后一级路径", + "uri 格式 1 - 相对文档:a/b/c", + "uri 格式 2 - 相对站内:/usedoc/ap1/a/b/c", + "uri 格式 3 - 绝对地址:https://www.baidu.com", + "_readme 本身并没有什么软用" + ], + "index": "receipt", + "rewrite": { + + }, + "plugin": { + "emoji": false, + "taskList": true, + "tex": true, + "flowChart": true, + "sequenceDiagram": true + }, + "menu": { + "toc": { + "startLevel": "1", + "overLevel": "1" + }, + "items": [ + { + "name": "Autolabor M2 ", + "uri": "/usedoc/navigationKit2/version_two/user_guide/quick_start/receipt" + }, + + { + "name": "Autolabor M2底盘", + "isOpen": true, + "items": [ + { + "name": "产品概述", + "uri": "overview" + }, + + { + "name": "产品参数", + "uri": "intro" + }, + + { + "name": "控制方式", + "uri": "use" + }, + + { + "name": "串口协议", + "uri": "CustomAutocan" + }, + + { + "name": "ROS驱动", + "uri": "ChassisM2" + } + + + ] + } + ] + } +} \ No newline at end of file diff --git a/底盘/img/.DS_Store b/底盘/img/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..1f238400b1c683970f0833252e20e305d2d32b46 GIT binary patch literal 6148 zcmeHKF-`+P474FgkHUHpv9*cQ_1bOi+s8cX)< z`aHY2DbBH(`Tp~DXSOx7HJoT?hPm-MeP&mcaUdLLygeRIFNfplFsofkkb7f0yR#2_ zpYZvU?%~6C*wO*YO93e$1*Cu!kOIF_fV~&C-XtnY0VyB_eiY#Mp}~p0a7>I(2SSVh zz!lPASjQ{@Y)k-q;h2aF%##XCs@I6&Nk_g_T`wFHlWrb2nS z3P^#e0@u0Svj0E87v}#dNjoVZ1^$%+z8ao}JzlAL>+I#&Ya9F-&YCYc4eOvFL^}pX iJI03X_%@2Nu5pd$y>LtnI`TmW>dydmkx7BSR^S3j(HeFD literal 0 HcmV?d00001 diff --git a/底盘/img/1.png b/底盘/img/1.png new file mode 100644 index 0000000000000000000000000000000000000000..b770713fad90f1a86a41b4311ef71957550198cd GIT binary patch literal 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zoO?bD_A953<<$M|t^4ZqbJ!250xhKc;=dR0T6xqNv4~kRHgdJ6o)%e$+b + + 尺寸 + 1040 mm*700mm *430 mm + 驱动形式 + 双轮独立驱动 + + + 轴距 + 650mm + 转向形式 + 阿卡曼转向 + + + 轮距 + 600mm + 悬挂形式 + 四轮双叉臂式独立悬挂 + + + 最大速度 + 10km/h + 电池参数 + 磷酸铁锂 90AH 24V + + + 总质量 + 80kg + 续航时间 + 12小时 + + + 最小转弯半径 + 1.2m + 续航里程 + 80公里 + + + 最大爬坡度 + 30° + 编码器 + 4096线 + + + 离地高度 + 110mm + 对外通信接口 + RS232 + + + 驻车 + 电子驻车 + 防护等级 + IP54 + + + 驱动电机 + 500W + 对外供电 + 24V + + + 转向电机 + 250W + 遥控距离 + 50M + + + +# 产品尺寸 +
    + +![1.png](img/1.png) + + + +# 控制手柄参数 +该手柄有自动休眠功能,长时间不操作,省电模块被激活后自动进入休眠模式,按下开机键即可唤醒手柄。 + +参数名称 | 参数内容 +:-------------: | :-------------: +使用时间 | 约10小时 +无线频率 | 2.4GHz +接收范围 | 50m + + +* * * + +# 控制面板 + + +控制面板清单: + +名称 | 个数 | 说明 +:-------------: | :-------------: | :-------------: +紧急停止 | 1 | 在紧急情况下请按下该紧急停止按钮 +电源 | 1 | 电源开启关闭按钮 +充电接口(IN) | 1 | 为内置电池充电 +电量显示 | 1 | 以百分比的形式显示AP1电池电量 +手柄接收 | 1 | 手柄接收器插口 +RS232串口 | 1 | 使用串口数据线连接下位机与上位机,进行通信 + + + + + diff --git a/底盘/overview.md b/底盘/overview.md new file mode 100644 index 0000000..c1168da --- /dev/null +++ b/底盘/overview.md @@ -0,0 +1,49 @@ +# 产品概述 + Autolabor M2采用前转向的阿克曼结构,四轮双叉臂式独立悬挂,具有100公斤强大负载能力。80公里续航里程。轻松应对各种复杂路况。车规级零部件,稳定可靠,防护等级IP54。配合高精度编码器可以实现高速运动和精准转向,有效提升稳定性和精度。 + +* * * + +# 主要特性 +* 可靠耐用,操作简单,无需组装,开机直接使用 +* 高通过性,爬坡能力十足,续航能力强 +* 高精度工业级编码器,定位精准 +* 高负载,负重可达100KG +* 适应场景广泛,轻松应对各种复杂路况 +* 兼容多个系统,支持多种开发平台、控制方式 +* 支持ROS开发,提供ROS驱动包与运动模型 +* 雷达、摄像头、惯导等多种传感器随意组合搭配,拆装方便 +* 使用文档齐全,配备后续用户支持,并不断更新开发教程 + +* * * + + +# 产品清单 + +名称 | 数量 | 备注 +:---:|:---:|--- +M2移动平台 | 1辆 | +M2充电器 | 1个 | +M2控制手柄| 1套 | +串口数据线 | 1根 | +配套工具 | 1套 | + +* * * + +# 使用提醒 + +* 产品边缘锋利,请小心接触,避免划伤 +* 产品表面为金属材质,请勿与电路板直接接触 * 操控平台时避免速度过快,引起碰撞 * 搬运时以及设置作业时,请勿落下或倒置 +* 非专业人员,请不要私自拆卸 * 不使用非原厂标配的电池、电源、充电座 * 运行时请勿用手触碰 +* 不要在有水的地方,存在腐蚀性、易燃性气体的环境内和靠近可燃性物质的地方使用 * 不要放置在加热器或者大型卷线电阻器等发热体周围 +* 切勿将电机直接与商用电源连接 + +* * * + +# 电池安全 +* 请在有人看护的状态下充电,若人员离开请拔掉充电插头 +* 充电器在充电工作时,会向外界散发一定的热量,充电器与产品应放在通风干燥的环境中使用 * 正常充电时,充电指示灯为红色,当转为绿色时为充满 +* 停止充电时,应先拔下插头,然后取下电池端插头 +* 产品长期不用,需三个月至半年补充一次电 +* 产品电池不可将电完全用完,否则会严重受损,容易造成不可修复 + +* * * \ No newline at end of file diff --git a/底盘/use.md b/底盘/use.md new file mode 100644 index 0000000..3bc41ba --- /dev/null +++ b/底盘/use.md @@ -0,0 +1,119 @@ +# 控制方式 +M2可以使用手柄控制和上位机控制两种方式来控制,手柄控制权限高于上位机控制,下面将分别概述这两种控制方式。 + +## 手柄控制 + +### 概述 + +我们配送一个控制手柄用于控制M2移动。 + +![2.png](img/2.png) + +### 使用说明 + +#### 手柄操作步骤 + +1. 长按手柄HOME键,灯光亮起,自动匹配。 +2. 匹配成功后,手柄会震动一下,跑马灯最左侧与最右侧灯常亮。 +3. 同时按下顶部L、LZ、R、RZ四键,手柄解锁。 +4. 在遥控底盘运动、调整线速度、调整角速度的时候需要长按L、LZ、R、RZ四键中任意一键。 + + + +#### 手柄按键说明 + +我们对于M2的手柄控制设计有几种速度档位,如下表。 + + + + + + + + + + + + + + + + + + + + +
    档位0档1档2档3档4档5档
    速度16%33%50%66%83%100%
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    按键功能备注
    左侧摇杆键控制M2前进与后退控制摇杆推动的力度控制速度,轻推低速移动,推到底为当前档位最高速
    右侧摇杆键控制M2左右转向控制摇杆推动的力度控制角度,轻推小角度转向,推到底为最大角转向,松开自动回正
    中区“—”键速度减档每按一下,速度降低一档,最低不得高于最底档,如0档
    中区“+”键速度加档每按一下,速度提高一档,最高不得高于最高档,如5档
    左区4控制键前/后/左/右控制运动方向
    右区4控制键前/后/左/右控制运动方向
    HOME键开机/急停紧急情况下,可按HOME键,M2会紧急刹车
    顶部4控制键解锁/防误触手柄连接成功后,需同时按下4键解锁,控制时需长按任意一键,行驶过程中松开,M2会缓刹
    + + + + +* * * + +## 上位机控制 +### 概述 +使用M2配送的串口数据线与上位机相连,按照预定义的**协议规则**,向下位机(底层硬件平台)发送指令,控制移动平台。 + +### 使用说明 +使用接口线将下位机与上位机连接起来,向下位机发送指令。 + +### 指令发送方式 +用户可按照自己的开发场景,选择不同的方式发送指令: + +* 使用**串口调试助手**直接向下位机发送指令 +* 基于ROS开发可使用我们提供的**ROS驱动包**与下位机通信发送接收指令 + +