4 Star 27 Fork 3

luxiangyu / CaotaiSystem

加入 Gitee
与超过 1200万 开发者一起发现、参与优秀开源项目,私有仓库也完全免费 :)
免费加入
克隆/下载
贡献代码
同步代码
取消
提示: 由于 Git 不支持空文件夾,创建文件夹后会生成空的 .keep 文件
Loading...
README
GPL-2.0

CaotaiSystem

介绍

一只会走路、会跳舞、会写字的草太椅子
视频介绍求三连

文件内容

1_结构

这个文件夹里放了草太椅子机械结构相关的文件

  1. 草太椅子文件夹是椅子主体,使用SOLIDWORKS Premium 2021 SP5.0绘制,考虑到Solidworks向下兼容,所以应该使用同版本或更高版本打开
  2. 鞋子文件夹放了三种鞋子,如果是走路功能,则使用鞋子-前脚鞋子-后脚,如果是写字功能和跳舞功能,则换用后脚-稳定站立,因为稳定站立版本不容易前倾,所以摔倒风险会小一些,但是走路时难以向前移动重心
  3. 单轴往复运动STL放了单轴往复子装配体的STL文件,可用于3D打印切片
  4. 除了3D打印件以外,还要购买舵机、滑动轴承、肩轴螺丝等标准件,草太结构标准件BOM.xlsx是物料清单
2_电路

这个文件夹里放了电路板相关的文件

  1. ProProject_caotai_ctrl_v2.epro是嘉立创EDA pro另存为本地的工程文件,嘉立创EDA挺好用的,我已经从Cadence转到国产EDA了。打开步骤如下:
    (1)进入https://lceda.cn/,微信扫码登录
    (2)依次点开嘉立创EDA 编辑器 专业版,进入在线编辑器界面
    (3)点击文件->导入->嘉立创EDA专业版,在弹出的文件选择窗口选择ProProject_caotai_ctrl_v2.epro
    (4)等待导入完成,1分钟左右
    (5)在弹出的导入窗口中点击保存按钮,即可导入完成
    (6)点开PCB1,屏幕右上角有个类似购物车的图标,点击可以进入打样,下单之前别忘了领取1-4层板沉金免费券
  2. 草太控制板-电子元器件BOM.xlsx是物料清单,都是正确的,大胆购买吧
  3. 舵机不是纯阻性器件,会产生过冲电流,二极管D2D3是瞬态抑制二极管,焊接时不可省略它们(血泪教训)
3_算法

这个文件夹里放了算法相关的代码,是用了2个相互独立的全连接神经网络
已知我们的草太椅子有4条腿,每条腿有3个伸缩连杆,我们算法的目的是解算出某个单腿姿态下3只伸缩连杆的高度,因为针对单条腿进行解算,没有把4条腿都联结起来,所以动作会有些生硬(T.T)
第一个神经网络是2-64-64-2的结构,输入的2个神经元分别代表草太腿的外倾角和旋转角,输出的2个神经元分别代表伸缩连杆B、C和伸缩连杆A的高度之差
第二个神经网络是3-64-64-64-3的结构,输入的3个神经元分别代表草太脚尖的x/y/z轴坐标,输出的3个神经元分别代表3只伸缩连杆的高度

  1. dataset_angle.mdataset_draw.m分别用于生成上述两个神经网络的数据集,数据集是通过解方程组产生的,核心代码在function_forward.m里面
  2. train_angle.ipynbtrain_draw.ipynb是训练这两个神经网络的代码,用到了Tensorflow框架
  3. eval_angle.meval_draw.m用于评估这两个神经网络的精度,包括浮点精度和在FPGA实现时的定点精度
  4. make_para_rom.mmake_h2t_rom.mmake_sin_rom.m用于FPGA实现时生成相关的查找表文件
4_FPGA

这个文件夹里放了FPGA的工程,使用安路FPGA开发工具TD4.6.4进行开发

5_esp32_Arduino

这个文件夹里放了esp32的代码,主要完成3个功能:a.把从蓝牙收到的指令透传给FPGA;b.读取mpu6050的姿态和FPGA工作状态;c.连接蓝牙把姿态信息和状态信息广播给BLE中心设备

  1. 使用VS code作为开发环境,Arduino作为框架来开发esp32
  2. PIO Home新建工程,板卡选择Espressif ESP32 Dev Module,框架选择Arduino
  3. PIO Home搜索mpu6050,在搜索到的库中选择I2Cdevlib-MPU6050 by Jeff Rowberg,add to project
  4. 把本文件夹里的main.cpp作为工程的主函数编译、下载即可
6_微信小程序

草太椅子采用微信小程序作为上位机来进行控制,有3种方法打开

  1. 微信首页搜索上仙的蓝牙法器即可在搜索的小程序结果中找到对应小程序
  2. 扫描上面的小程序码可以进入小程序,我这个小程序已经走完ICP备案、微信认证、隐私合规流程了哦,是有编制的小程序哦
  3. 把代码下载到本地,然后使用微信开发者工具自行编译,使用真机调试功能也可体验小程序

复刻说明

如果你想完全复刻
  1. 如果你想复刻这把椅子,建议从单轴往复装配体开始,该装配体实现了单轴的直线运动
    (1)采用了多处滑动轴承+肩轴螺丝+M2.5螺母的设计,安装时一只手用尖嘴钳夹紧M2.5螺母,另一只手用六角匙拧肩轴螺丝,注意拧得太紧会导致无法运动,拧得太松会导致公差过大,拧到连接处可以转动但又不会乱晃为止
    (2)安装舵机时,应把舵机调整到90°状态,必须把内齿轮安装在整个伸缩连杆行程的中间位置
    (3)3D打印时伸缩连杆卧倒打印,这样会使打印的层纹平行于连杆,从而增加结构强度,如果强度太弱会导致和万向节连接处发生断裂
  2. 接下来是制作草太的腿装配体,把新的小腿大腿腿的按钮0.5*6*25弹簧花枝俏毛笔组装在一起
  3. 单轴往复装配体草太的腿调试完成后,把十二轴连接器打印出来,安装在一起,构成草太椅子的主体
  1. 电路板打样,esp32和FPGA程序烧录,把舵机出线插在电路板上,插线定义参见上图
  2. 打印椅子的顶面椅子的底面椅背,这三个零件边长30cm左右,如果你的打印机没有这么大,可以把它切分成4块分别打印,然后用螺丝紧固在一起,把上述零件组装在一起,至此结构和电路部分完成
  3. 校正!这是最重要的一步,因为即使同一家购买的同一批生产的舵机也难以做到完全一致,所以安装完成后需要手动校正,包括2个层面的校正
    (1)第一个层面是舵机级别的校正,通过不断调整caotai_top.v第99~110行BIAS参数,最终实现草太上电时4只脚都完全垂直于地面
    (2)第二个层面是整机级别的校正,通过调整微信小程序控制页面的行走功能超参数跳舞功能超参数,最终实现草太可以稳定走路和跳舞而不摔倒
  4. 最后,enjoy it!
如果你想不完全复刻
  1. 虽然完全按照本仓库的代码和图纸复刻出来这把草太椅子很有趣,但可能不适合所有人,甚至会因为我本人水平有限而限制到复刻者的发挥
  2. 所以复刻者可以充分发挥自己的能力,对本设计进行魔改,从而提升性能,这也是开源社区存在的意义之一,我目前能想到的有以下几个方向:
    (1)结构方面,把电机改为步进电机,替换掉模拟舵机,模拟舵机的精度太差了
    (2)算法方面,把4条腿联动起来进行运动解算,从而使动作更加自然
    (3)算法方面,把mpu6050的姿态数据用于保持平衡,从而增加稳定性(目前已经可以把数据读出来并上传到小程序显示,但是没有进行处理)
    (4)电路和FPGA方面,替换掉已经停产的Tang Primer,使用在产的其他FPGA核心板,比如载有高云FPGA的Tang Primer 20K,注意核心板替换了以后PCB也要重新绘制哦
    (5)校正流程方面,目前进行舵机层面的校正时,每次都要修改caotai_top.v再重新编译下载FPGA固件,这太麻烦了,所以可以通过增加通信协议指令来在线校正
    (6)其他我没有想到的方向...
  3. 至少你得把单轴往复装配体复刻出来,它的直线运动很有趣
如果你不想复刻
  1. esp32和微信小程序采用蓝牙进行交互的部分,目前已经调试稳定,可以成为其他设计的参考
  2. 去B站对应视频下面给我点个一键三连吧

参考引用

  1. 内摆线实现旋转运动转直线运动的原理参考了这个视频
  2. esp32和微信小程序通过蓝牙进行通信参考了这个视频
GNU GENERAL PUBLIC LICENSE Version 2, June 1991 Copyright (C) 1989, 1991 Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. Preamble The licenses for most software are designed to take away your freedom to share and change it. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change free software--to make sure the software is free for all its users. This General Public License applies to most of the Free Software Foundation's software and to any other program whose authors commit to using it. (Some other Free Software Foundation software is covered by the GNU Lesser General Public License instead.) You can apply it to your programs, too. When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for this service if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs; and that you know you can do these things. To protect your rights, we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights. These restrictions translate to certain responsibilities for you if you distribute copies of the software, or if you modify it. For example, if you distribute copies of such a program, whether gratis or for a fee, you must give the recipients all the rights that you have. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights. We protect your rights with two steps: (1) copyright the software, and (2) offer you this license which gives you legal permission to copy, distribute and/or modify the software. Also, for each author's protection and ours, we want to make certain that everyone understands that there is no warranty for this free software. If the software is modified by someone else and passed on, we want its recipients to know that what they have is not the original, so that any problems introduced by others will not reflect on the original authors' reputations. Finally, any free program is threatened constantly by software patents. We wish to avoid the danger that redistributors of a free program will individually obtain patent licenses, in effect making the program proprietary. To prevent this, we have made it clear that any patent must be licensed for everyone's free use or not licensed at all. The precise terms and conditions for copying, distribution and modification follow. GNU GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION 0. This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License. The "Program", below, refers to any such program or work, and a "work based on the Program" means either the Program or any derivative work under copyright law: that is to say, a work containing the Program or a portion of it, either verbatim or with modifications and/or translated into another language. (Hereinafter, translation is included without limitation in the term "modification".) Each licensee is addressed as "you". Activities other than copying, distribution and modification are not covered by this License; they are outside its scope. The act of running the Program is not restricted, and the output from the Program is covered only if its contents constitute a work based on the Program (independent of having been made by running the Program). Whether that is true depends on what the Program does. 1. You may copy and distribute verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty; keep intact all the notices that refer to this License and to the absence of any warranty; and give any other recipients of the Program a copy of this License along with the Program. You may charge a fee for the physical act of transferring a copy, and you may at your option offer warranty protection in exchange for a fee. 2. You may modify your copy or copies of the Program or any portion of it, thus forming a work based on the Program, and copy and distribute such modifications or work under the terms of Section 1 above, provided that you also meet all of these conditions: a) You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change. b) You must cause any work that you distribute or publish, that in whole or in part contains or is derived from the Program or any part thereof, to be licensed as a whole at no charge to all third parties under the terms of this License. c) If the modified program normally reads commands interactively when run, you must cause it, when started running for such interactive use in the most ordinary way, to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty (or else, saying that you provide a warranty) and that users may redistribute the program under these conditions, and telling the user how to view a copy of this License. (Exception: if the Program itself is interactive but does not normally print such an announcement, your work based on the Program is not required to print an announcement.) These requirements apply to the modified work as a whole. If identifiable sections of that work are not derived from the Program, and can be reasonably considered independent and separate works in themselves, then this License, and its terms, do not apply to those sections when you distribute them as separate works. But when you distribute the same sections as part of a whole which is a work based on the Program, the distribution of the whole must be on the terms of this License, whose permissions for other licensees extend to the entire whole, and thus to each and every part regardless of who wrote it. Thus, it is not the intent of this section to claim rights or contest your rights to work written entirely by you; rather, the intent is to exercise the right to control the distribution of derivative or collective works based on the Program. In addition, mere aggregation of another work not based on the Program with the Program (or with a work based on the Program) on a volume of a storage or distribution medium does not bring the other work under the scope of this License. 3. You may copy and distribute the Program (or a work based on it, under Section 2) in object code or executable form under the terms of Sections 1 and 2 above provided that you also do one of the following: a) Accompany it with the complete corresponding machine-readable source code, which must be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange; or, b) Accompany it with a written offer, valid for at least three years, to give any third party, for a charge no more than your cost of physically performing source distribution, a complete machine-readable copy of the corresponding source code, to be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange; or, c) Accompany it with the information you received as to the offer to distribute corresponding source code. (This alternative is allowed only for noncommercial distribution and only if you received the program in object code or executable form with such an offer, in accord with Subsection b above.) The source code for a work means the preferred form of the work for making modifications to it. For an executable work, complete source code means all the source code for all modules it contains, plus any associated interface definition files, plus the scripts used to control compilation and installation of the executable. However, as a special exception, the source code distributed need not include anything that is normally distributed (in either source or binary form) with the major components (compiler, kernel, and so on) of the operating system on which the executable runs, unless that component itself accompanies the executable. If distribution of executable or object code is made by offering access to copy from a designated place, then offering equivalent access to copy the source code from the same place counts as distribution of the source code, even though third parties are not compelled to copy the source along with the object code. 4. You may not copy, modify, sublicense, or distribute the Program except as expressly provided under this License. Any attempt otherwise to copy, modify, sublicense or distribute the Program is void, and will automatically terminate your rights under this License. However, parties who have received copies, or rights, from you under this License will not have their licenses terminated so long as such parties remain in full compliance. 5. You are not required to accept this License, since you have not signed it. However, nothing else grants you permission to modify or distribute the Program or its derivative works. These actions are prohibited by law if you do not accept this License. Therefore, by modifying or distributing the Program (or any work based on the Program), you indicate your acceptance of this License to do so, and all its terms and conditions for copying, distributing or modifying the Program or works based on it. 6. Each time you redistribute the Program (or any work based on the Program), the recipient automatically receives a license from the original licensor to copy, distribute or modify the Program subject to these terms and conditions. You may not impose any further restrictions on the recipients' exercise of the rights granted herein. You are not responsible for enforcing compliance by third parties to this License. 7. If, as a consequence of a court judgment or allegation of patent infringement or for any other reason (not limited to patent issues), conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not distribute the Program at all. For example, if a patent license would not permit royalty-free redistribution of the Program by all those who receive copies directly or indirectly through you, then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program. If any portion of this section is held invalid or unenforceable under any particular circumstance, the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances. It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims; this section has the sole purpose of protecting the integrity of the free software distribution system, which is implemented by public license practices. Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system; it is up to the author/donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice. This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License. 8. If the distribution and/or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces, the original copyright holder who places the Program under this License may add an explicit geographical distribution limitation excluding those countries, so that distribution is permitted only in or among countries not thus excluded. In such case, this License incorporates the limitation as if written in the body of this License. 9. The Free Software Foundation may publish revised and/or new versions of the General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns. Each version is given a distinguishing version number. If the Program specifies a version number of this License which applies to it and "any later version", you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of this License, you may choose any version ever published by the Free Software Foundation. 10. If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different, write to the author to ask for permission. For software which is copyrighted by the Free Software Foundation, write to the Free Software Foundation; we sometimes make exceptions for this. Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally. NO WARRANTY 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. END OF TERMS AND CONDITIONS How to Apply These Terms to Your New Programs If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms. To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively convey the exclusion of warranty; and each file should have at least the "copyright" line and a pointer to where the full notice is found. <one line to give the program's name and a brief idea of what it does.> Copyright (C) <year> <name of author> This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. Also add information on how to contact you by electronic and paper mail. If the program is interactive, make it output a short notice like this when it starts in an interactive mode: Gnomovision version 69, Copyright (C) year name of author Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details. The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, the commands you use may be called something other than `show w' and `show c'; they could even be mouse-clicks or menu items--whatever suits your program. You should also get your employer (if you work as a programmer) or your school, if any, to sign a "copyright disclaimer" for the program, if necessary. Here is a sample; alter the names: Yoyodyne, Inc., hereby disclaims all copyright interest in the program `Gnomovision' (which makes passes at compilers) written by James Hacker. <signature of Ty Coon>, 1 April 1989 Ty Coon, President of Vice This General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License.

简介

一只会走路、会跳舞、会写字的草太椅子 展开 收起
GPL-2.0
取消

发行版

暂无发行版

贡献者

全部

近期动态

加载更多
不能加载更多了
JavaScript
1
https://gitee.com/lu1198373615/CaotaiSystem.git
git@gitee.com:lu1198373615/CaotaiSystem.git
lu1198373615
CaotaiSystem
CaotaiSystem
master

搜索帮助