⏩ Hello everyone! I'm Xiaoguang, an embedded enthusiast, a sophomore who wants to become a system architect.
⏩Recently participated in the school competition and the seven-school league of the e-sports competition. This time I will make a brief summary of the school competition.
⏩Please keep reading, there will be surprises later.
⏩Thank you for reading, please correct me if I am wrong.
overview
The duration is three days and two nights, (from 8:00 am on Friday to 8:00 pm on Sunday)
and a list of equipment will be given a few days in advance
. The rules are basically the same as the official electric competition
. It's tough. . . . . .
Pre-competition preparation:
The first is to receive the equipment list:
for us, we usually do control problems, so DC fans, hinges, and three-position angle sensors or electronic gyroscopes are very useful information for us, which makes us guess That is, the topic of the 2015 national competition: Wind Pendulum and another topic of the Higher Vocational and Professional Group have also been considered, but the focus is still on the Wind Pendulum.
After the list came out, we prepared the relevant equipment: DC fan, hinge, pvc pipe, custom iron frame, mpu6050 three-axis gyroscope and so on.
After the equipment came back, we started to try to build the hardware environment. We encountered many problems in the process of building the environment according to the 2015 national competition questions:
we built a complete hardware structure, but found a very serious problem:
the wind power of the fan is not enough, The bottom plate is too heavy and the pipe is too heavy, so the wind pendulum cannot blow up and reach the height we want. We proposed a solution:
we changed to a smaller fan. Relatively, its wind power is smaller, but it still reaches the height we want. We didn’t get the effect we wanted, so we replaced the pvc pipe with a thinner and lighter pipe, this time barely reached the height we wanted, but this kind of pipe can’t be bought, so it’s very uncomfortable...,...then the
second The topic came out:
game experience
first day
It can be seen that the topic of this school competition was changed from the topic of the 2015 national competition, changing the two-dimensional movement to one-dimensional movement to reduce the difficulty.
Then we borrowed the experience of the wind pendulum in 2015, replaced the fan with a hollow cup, and used thinner and lighter pvc pipes. We built the hardware that morning, and after trying it, we found that the effect was very good. Start to build the hardware environment.
Reminder: The hardware environment must be set up properly, otherwise it will be sent directly (our group is like this, and it has suffered a lot).
train of thought
We used: mpu6050, buttons, OLED, L298N, hollow cup, HC-05 Bluetooth module, buzzer
- mpu6050: angle measurement
- Button, OLED, Bluetooth module: human-computer interaction
- L298N Control Coreless: Power System
- Buzzer: just B
Our team built the hardware according to the requirements and started to write, because I wrote the driver, that is, to get the driver code of mpu6050, buttons, OLED, and L298N control coreless cup, Bluetooth module, um, that’s all, Because every driver has basically been done, the driver writing is still very fast. At the beginning, it was controlled by buttons for human-computer interaction, and later it was changed to Bluetooth control for human-computer interaction
. The most important thing is the hardware construction! Hardware build! Hardware build!
The final effect is basically like this:
why use four hollow cups, because the wind power of two is not enough. . . . . .
We started debugging that night. The PID algorithm must be used for this control, because we have never touched it before, um, so it made us very uncomfortable. After a long time, it was not adjusted. The help of a big guy, um (knows everything), that night, I fought from 1:00 to 5:00, adjusted parameters a little bit, debugged, debugged, debugged, and finally when I rushed to 30cm, the audience exclaimed, directly take off (don't get too excited)
the next day
After a short rest, we continued to fight. I didn’t have many tasks that day. I changed the buttons and OLED to Bluetooth modules and OLED. I wondered why the day passed so quickly, and it was night before we finished the adjustment, and that night was just too hard. . . . .
After adjusting and adjusting the hollow cup, one broke, and then we started to change
it and tested it again, and another one broke. After we continued
to change we found that it could not blow to the height we wanted, that is to say: we used to All the parameters after debugging had to be re-adjusted.
At that time, the mentality almost collapsed.
We quickly found a new hardware, and then his hollow cup model was different. . . . . .
Let's change it again. . . . . . . .
After the final change, um, it was the effect shown in the picture above
. It was already two o'clock at that time, and we fixed the hardware again, and then we had to hand in the work tomorrow.
After I connected the wiring, I handed it over to my teammate. w to adjust the parameters of PID
third day
When I woke up in the morning, my teammates were still fighting (too strong!), the parameters were basically adjusted, and then I started to work on the questions. In fact, I had written the code framework before, and then continued to adjust! Tune! Tune!
At about four o'clock in the afternoon, we almost finished the first three questions, so we played the first question and gave up the second one. . . . . . . .
Finally seal the line, charge the battery, and prepare to send him on the road
review
A week later, we started to evaluate, we are the third group, we arrived after waiting for a while in the morning, except for a little episode, but the final result was okay.
When I first connected to Bluetooth, it took me a long time to connect.
Then when I tested the first question, I didn’t know why
.
And then ended up with a third prize
Summarize
In general: it was too difficult.
From the beginning of building the hardware to the final debugging, it took three days and two nights. I really didn’t get much sleep. Basically, we stayed up late when we had energy. You can learn a lot. If you have the opportunity, it is recommended to participate once.
Finally, I have to say that you must not fight alone, and communicate and cooperate with your teammates more, so that the efficiency can be improved. Ah,
because the phone is lost, the video recorded before is gone, which is uncomfortable. . . . . .
I hope my article can be helpful to you, thanks for reading