双轮平衡车实现自主平衡功能

1. 运动功能说明

      R209样机是一款双轮小车，适合作为自平衡车的实验模型。本文示例将实现双轮小车自主平衡功能，当人为的去打破小车的平衡点时，小车会自动调节至平衡点并稳定下来。

2. 结构说明

      该样机主要由两个直流驱动轮模组 构成。

3. 电子硬件

      在这个示例中，我们采用了以下硬件，请大家参考：

主控板	Basra主控板（兼容Arduino Uno）
扩展板	Bigfish2.1扩展板
传感器	加速度传感器
电池	7.4V锂电池

      电路连接：将两个直流电机分别连接在Bigfish扩展板的（D5,D6）以及（D9,D10）接口上；加速度传感器连接在Bigfish扩展板的A0端口上。

4. 运动功能实现

编程环境：Arduino 1.8.19

将参考例程（self_balance_car.ino）下载到主控板，小车将实现双轮自平衡功能，运动效果可参考官网实验演示视频。

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

  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 2023-04-12 https://www.robotway.com/

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

#include <SignalFilter.h>

SignalFilter Filter;

char filtered;

int a,b,c,d;

const int analogInPin = A0;   // Analog input pin that the potentiometer is attached to

int sensorValue = 0;        // value read from the pot

int outputValue = 0;        // value output to the PWM (analog out)

void setup() {

  // initialize serial communications at 9600 bps:

  Serial.begin(9600);

  Filter.begin();

  Filter.setFilter('m');

  Filter.setOrder(2);

}

void loop() {

  // read the analog in value:

  sensorValue = analogRead(analogInPin);           

  // map it to the range of the analog out:

  char outputValue = map(sensorValue, 0, 1023, 0, 255);  

  filtered= Filter.run(outputValue);

  int a=abs(filtered);

   if((a>=91)&&(a<=100))

    {   

     analogWrite(9,0);

     analogWrite(10,0);

     analogWrite(5,0);

     analogWrite(6,0);

     delay(5);}

     

   if(a>=101)

    {

     c=a+(a-100)*5;

     d=a+20+(a-100)*5;     

     analogWrite(9,0);

     analogWrite(10,c);

     analogWrite(5,0);

     analogWrite(6,d);

     delay(5);   

     analogWrite(9,30);

     analogWrite(10,0);

     analogWrite(5,40);

     analogWrite(6,0);}  

   

   if(a<=90)

    {c=a+(90-a)*3+40;

     d=a+20+(90-a)*3+40;

     analogWrite(9,c);

     analogWrite(10,0);

     analogWrite(5,d);

     analogWrite(6,0);

     delay(5);

     analogWrite(9,0);

     analogWrite(10,30);

     analogWrite(5,0);

     analogWrite(6,40);

   }   

  Serial.print(a);Serial.print("/");

  Serial.print(c);Serial.print("/");

  Serial.println(d);

}

5. 资料内容

①例程源代码

②样机3D文件

资料内容详见：双轮平衡车