一、本体说明

1. 底盘概述

该底盘是一款模块化的桌面级应用型底盘，基于应用级软件架构设计、应用级硬件系统设计、典型应用型底盘机械系统设计。

底盘本体为一个采用半独立刚性悬挂的四驱全向底盘。

2. 软件环境介绍

操作系统：Ubuntu18.04系统。基于Debian GNU/Linux，支持x86、amd64（即x64）、ARM和ppc架构。

仿真系统：基于开源机器人操作系统ROS melodic和开源软件平台Arduino开发。上位机采用ROS melodic，基于Rviz完成全向移动底盘slam导航运动规划，采用gazebo完成全向移动底盘物理运动仿真；下位机采用Arduino实现对全向移动底盘运动的控制。

注意：准备一个外接显示器。

3. 硬件配置及主要参数

硬件配置及主要参数表

4. 认识底盘的电器接口

① 常用接口说明：

② 扩展电气接口说明：

5. 底盘简化的系统框图

二、驱动及控制

1. 控制底盘单个轮子

实现思路

控制底盘的四个轮子分别转动。

下面我们先来了解一下底盘的总线舵机ID号。

操作步骤

① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_single_bus_steering_gear\Control_single_bus_steering_gear.ino：

/*------------------------------------------------------------------------------------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 athttps://opensource.org/licenses/MITby 机器谱 2023-08-16 https://www.robotway.com/------------------------------*//**Control single bus steering grar**///*        head* ID:001       ID:000*    ___________*   |           |*   |           |*   |           |*   |           |*   |           |*   |           |*   |___________|* ID:003       ID:002   *      Rear end** 2020.8.7 by boris//*/#define mySerial Serial2           //Serial port used by bus steering gear#define Serial_Baud_Rate 115200    //Serial Port baud rate#define BusServoSerialBaud 115200   //Bus steering gear baud rate#define wheel_speed_forward 0.08   //wheel forward speed#define wheel_speed_back -0.08     //wheel back speed#define wheel_speed_stop 0.0       //wheel stop speedenum{FORWARD_LEFT=1,FORWARD_RIGHT,BACK_LEFT,BACK_RIGHT,STOP};//wheel namedvoid setup(){delay(1100);Serial.begin(Serial_Baud_Rate);mySerial.begin(BusServoSerialBaud);delay(1000);}void loop(){control_bus_steering_gear_test();// control single bus steering gear}void control_bus_steering_gear_test(){Car_Move(FORWARD_LEFT,wheel_speed_forward);delay(1000);Stop_car();   //left front wheel forwardCar_Move(FORWARD_LEFT,wheel_speed_back);delay(1000);Stop_car();      //left front wheel backwordCar_Move(FORWARD_RIGHT,wheel_speed_forward);delay(1000);Stop_car();   //right front wheel forwardCar_Move(FORWARD_RIGHT,wheel_speed_back);delay(1000);Stop_car();     //right front wheel backwordCar_Move(BACK_LEFT,wheel_speed_forward);delay(1000);Stop_car();      //left rear wheel forwardCar_Move(BACK_LEFT,wheel_speed_back);delay(1000);Stop_car();         //left rear wheel backwordCar_Move(BACK_RIGHT,wheel_speed_forward);delay(1000);Stop_car();     //right rear wheel backwordCar_Move(BACK_RIGHT,wheel_speed_back);delay(1000);Stop_car();        //right rear wheel backword}

② 将底盘轮子朝上，观察每个轮子的转动效果。

2. 底盘的基本运动

实现思路

实现底盘前进、后退、左平移、右平移、左转、右转的功能。

操作步骤

① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_Car_Movement\Control_Car_Movement.ino：

/*------------------------------------------------------------------------------------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 athttps://opensource.org/licenses/MITby 机器谱 2023-08-16 https://www.robotway.com/------------------------------*//** car action test (include:forward, back, turnleft,turnright, left translation, right translation)*                         ** IP address of bus steering gear*        head* ID:001       ID:000*    ___________*   |           |*   |           |*   |           |*   |           |*   |           |*   |           |*   |___________|* ID:003       ID:002   *      Rear end** 2020.8.7 by boris*/#define ActionDelayTimes 1000#define mySerial Serial2#define BusServoSerialBaud 115200#define wheel_speed_forward 0.08    //car forward speed#define wheel_speed_back -0.08      //car back speed#define wheel_speed_stop 0.0        //car stop speed#define wheel_speed_left 0.08       //car turnleft speed#define wheel_speed_right -0.08     //car turnright speed#define wheel_speed_left_translation 0.08   //speed of car left translation#define wheel_speed_right_translation -0.08 //speed of car right translationenum{FORWARD=1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP}; //the movement state of the carfloat wheel_Speed[4]={0,0,0,0};char cmd_return[200];void setup(){delay(1000);Serial.begin(57600);delay(1000);//open serialmySerial.begin(BusServoSerialBaud);delay(1000);//open serial2car_move_test();}void loop(){//car_move_test();//car action test//car_stop();}void car_move_test()//car action test{Car_Move(FORWARD);delay(ActionDelayTimes);          // forwardcar_stop();Car_Move(BACK);delay(ActionDelayTimes);             // backcar_stop();Car_Move(LEFT_TRANSLATION);delay(ActionDelayTimes); //left translationcar_stop();Car_Move(RIGHT_TRANSLATION);delay(ActionDelayTimes);//right translationcar_stop();Car_Move(LEFT);delay(ActionDelayTimes);             //turnleftcar_stop();Car_Move(RIGHT);delay(ActionDelayTimes);            //turn rightcar_stop();  }

② 观察底盘的运动情况。

三、传感器使用

1. 底盘循迹-灰度传感器

实现思路

实现全向底盘可以按指定路线进行行走的功能（实验场景如下图所示）。

操作步骤

① 连接电路。如下图所示是全向底盘上的4个灰度接线，但本实验中我们只需要用到头部的两个灰度传感器即可。

② 下载文末资料中的参考程序Base_Experiment\Tracking_Car\Tracking_Car.ino：

/*------------------------------------------------------------------------------------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 athttps://opensource.org/licenses/MITby 机器谱 2023-08-16 https://www.robotway.com/------------------------------*//**Tracking Car**        head* pin:42      pin:44*    ___________*   |           |*   |           |*   |           |*   |           |*   |___________|* pin:36      pin:34   *      Rear end* 2020.8.7 by boris*/#define mySerial Serial2         //statement serial2#define Sensor_Numbers 4         //numbers of sensor#define Serial_Baud_Rate 115200   //serial port baud rate#define BusServoSerialBaud 115200//bus steering gear baud rate#define wheel_speed_forward 0.06 //car forward speed#define wheel_speed_back -0.06   //car back speed#define wheel_speed_stop 0.0     //car stop speed#define wheel_speed_left 0.1    //car turnleft speed#define wheel_speed_right -0.1   //car turnright speedenum{FORWARD=1,BACK,LEFT,RIGHT,STOP};//the movement state of the carconst int Gray_Sensor_Pin[Sensor_Numbers] = {44,42,36,34};//define gray sensor pinconst int GraySensorNumbers = sizeof(Gray_Sensor_Pin)/sizeof(Gray_Sensor_Pin[0]);char cmd_return[200];void setup(){delay(1100);Serial.begin(Serial_Baud_Rate);Gray_Sensor_Init();mySerial.begin(BusServoSerialBaud);delay(1000);}void loop(){tracking_car();//car tracking//Car_Move(STOP);}void Gray_Sensor_Init()//sensor init{for(int i=0;i<Sensor_Numbers;i++){pinMode(Gray_Sensor_Pin[i],INPUT);delay(2);} delay(200);}void tracking_car() //car tracking{int sensor_data[Sensor_Numbers] = {0,0,0,0};int sum = 0;for(int i=0;i<Sensor_Numbers-2;i++){sensor_data[i] = digitalRead(Gray_Sensor_Pin[i]);sum |= sensor_data[i] << i;}  switch(sum){case 0: Car_Move(FORWARD); break;case 1: Car_Move(LEFT); break;case 2: Car_Move(RIGHT); break;case 3: Car_Move(FORWARD); break;default: break;}}

③ 观察全向底盘循迹的效果。

2. 底盘避障-超声测距

实现思路

实现全向底盘可以在模拟的场景下进行避障然后行进的功能（实验场景如下图所示）。

操作步骤

① 连接电路，如下图所示是全向底盘的8个超声测距接线图。

② 下载文末资料中的参考程序Base_Experiment\Avoiding_Obstacles_Car\Avoiding_Obstacles_Car.ino：

/*------------------------------------------------------------------------------------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 athttps://opensource.org/licenses/MITby 机器谱 2023-08-16 https://www.robotway.com/------------------------------*//** Avoid obstacles car***   车身位置及传感器接线:** // Y* // |* // |* // |              t:53                   t:8  * // |     (ID:003) e:A15                  e:9   (ID:001)* // |   t:37    A - - - - - - - - - - - - - - - - - -Y: t:39* // |   e:38    |                                    |   e:40* // |          |                                    |         车头* // |   t:31    |                                    |   t:45* // |   e:32    Z - - - - - - - - - - - - - - - - - -X: e:46* // |     (ID:002) t:47                   t:A13   (ID:000)* // |              e:48                   e:A14* // 0-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- X* *  * 2020.8.7 by boris*/#define mySerial Serial2            //Serial port used by bus steering gear           #define Serial_Baud_Rate 115200     //Serial Port baud rate#define BusServoSerialBaud 115200   //Bus steering gear baud rate#define wheel_speed_forward 0.04    //car forward speed#define wheel_speed_forward_up 0.06 //forward speed up#define wheel_speed_back -0.04      //car back speed#define wheel_speed_stop 0.0        //car stop speed#define wheel_speed_left 0.1      //car turnleft speed#define wheel_speed_right -0.1    //car turnright speed#define wheel_speed_left_translation 0.04   //speed of car left translation#define wheel_speed_right_translation -0.04 //speed of car right translationenum{FORWARD=1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP,FORWARD_UP}; //the movement state of the carchar cmd_return[200];float wheel_Speed[4]={0,0,0,0};void setup(){delay(1100);Serial.begin(Serial_Baud_Rate);init_Ultrasonic();delay(200);mySerial.begin(BusServoSerialBaud);delay(1000);}void loop(){//Car_Move(STOP);delay(1000);car_move();//get_ultrasonic_sensor_data();}

③ 观察全向底盘避障的效果。

程序源代码详见桌面级全向底盘