1. Control principle
The running track of the car is controlled by the different speeds of the two wheels, forward, backward, left and right, acceleration and deceleration
2. Principle of input signal
1. The steering gear controls the ultrasonic direction
The direction of the ultrasonic probe is controlled by the steering gear, so that the ultrasonic wave can detect obstacles in multiple directions
2. Ultrasonic ranging
The distance of the obstacle is measured by the time difference between the sending and returning of the ultrasonic wave, and the trolley controls the direction according to the distance.
3. Infrared reflection tracking module
The track deviation is judged by four infrared reflection tubes, so as to control the steering of the car for tracking
Third, communication principle
1. Serial communication
Mainly used for debugging
2. Infrared communication
The car can be controlled through the infrared remote control and the infrared receiver module of the car
3. Serial port to Bluetooth module communication
It can be connected to the mobile phone through the Bluetooth module, and the direction and start-stop control of the car can be carried out through the mobile car app.
4. Advanced Control
1. pid steering control
This control is used when tracing the car. Proportional + differential control is performed according to the deviation of the car from the track, and the integral part is not used. The proportional control is to control the control range of the trolley, and the differential control is to control in advance according to the deviation trend of the trolley. The control smoothness of the car can be improved by the Pid algorithm