index.html

<!doctype html>
<html>
<head>
<meta charset='UTF-8'><meta name='viewport' content='width=device-width initial-scale=1'>

<link href='https://fonts.loli.net/css?family=Open+Sans:400italic,700italic,700,400&subset=latin,latin-ext' rel='stylesheet' type='text/css' /><style type='text/css'>html {overflow-x: initial !important;}:root { --bg-color:#ffffff; --text-color:#333333; --select-text-bg-color:#B5D6FC; --select-text-font-color:auto; --monospace:"Lucida Console",Consolas,"Courier",monospace; --title-bar-height:20px; }
.mac-os-11 { --title-bar-height:28px; }
html { font-size: 14px; background-color: var(--bg-color); color: var(--text-color); font-family: "Helvetica Neue", Helvetica, Arial, sans-serif; -webkit-font-smoothing: antialiased; }
h1, h2, h3, h4, h5 { white-space: pre-wrap; }
body { margin: 0px; padding: 0px; height: auto; inset: 0px; font-size: 1rem; line-height: 1.42857; overflow-x: hidden; background: inherit; tab-size: 4; }
iframe { margin: auto; }
a.url { word-break: break-all; }
a:active, a:hover { outline: 0px; }
.in-text-selection, ::selection { text-shadow: none; background: var(--select-text-bg-color); color: var(--select-text-font-color); }
#write { margin: 0px auto; height: auto; width: inherit; word-break: normal; overflow-wrap: break-word; position: relative; white-space: normal; overflow-x: visible; padding-top: 36px; }
#write.first-line-indent p { text-indent: 2em; }
#write.first-line-indent li p, #write.first-line-indent p * { text-indent: 0px; }
#write.first-line-indent li { margin-left: 2em; }
.for-image #write { padding-left: 8px; padding-right: 8px; }
body.typora-export { padding-left: 30px; padding-right: 30px; }
.typora-export .footnote-line, .typora-export li, .typora-export p { white-space: pre-wrap; }
.typora-export .task-list-item input { pointer-events: none; }
@media screen and (max-width: 500px) {
  body.typora-export { padding-left: 0px; padding-right: 0px; }
  #write { padding-left: 20px; padding-right: 20px; }
}
#write li > figure:last-child { margin-bottom: 0.5rem; }
#write ol, #write ul { position: relative; }
img { max-width: 100%; vertical-align: middle; image-orientation: from-image; }
button, input, select, textarea { color: inherit; font: inherit; }
input[type="checkbox"], input[type="radio"] { line-height: normal; padding: 0px; }
*, ::after, ::before { box-sizing: border-box; }
#write h1, #write h2, #write h3, #write h4, #write h5, #write h6, #write p, #write pre { width: inherit; }
#write h1, #write h2, #write h3, #write h4, #write h5, #write h6, #write p { position: relative; }
p { line-height: inherit; }
h1, h2, h3, h4, h5, h6 { break-after: avoid-page; break-inside: avoid; orphans: 4; }
p { orphans: 4; }
h1 { font-size: 2rem; }
h2 { font-size: 1.8rem; }
h3 { font-size: 1.6rem; }
h4 { font-size: 1.4rem; }
h5 { font-size: 1.2rem; }
h6 { font-size: 1rem; }
.md-math-block, .md-rawblock, h1, h2, h3, h4, h5, h6, p { margin-top: 1rem; margin-bottom: 1rem; }
.hidden { display: none; }
.md-blockmeta { color: rgb(204, 204, 204); font-weight: 700; font-style: italic; }
a { cursor: pointer; }
sup.md-footnote { padding: 2px 4px; background-color: rgba(238, 238, 238, 0.7); color: rgb(85, 85, 85); border-radius: 4px; cursor: pointer; }
sup.md-footnote a, sup.md-footnote a:hover { color: inherit; text-transform: inherit; text-decoration: inherit; }
#write input[type="checkbox"] { cursor: pointer; width: inherit; height: inherit; }
figure { overflow-x: auto; margin: 1.2em 0px; max-width: calc(100% + 16px); padding: 0px; }
figure > table { margin: 0px; }
thead, tr { break-inside: avoid; break-after: auto; }
thead { display: table-header-group; }
table { border-collapse: collapse; border-spacing: 0px; width: 100%; overflow: auto; break-inside: auto; text-align: left; }
table.md-table td { min-width: 32px; }
.CodeMirror-gutters { border-right: 0px; background-color: inherit; }
.CodeMirror-linenumber { user-select: none; }
.CodeMirror { text-align: left; }
.CodeMirror-placeholder { opacity: 0.3; }
.CodeMirror pre { padding: 0px 4px; }
.CodeMirror-lines { padding: 0px; }
div.hr:focus { cursor: none; }
#write pre { white-space: pre-wrap; }
#write.fences-no-line-wrapping pre { white-space: pre; }
#write pre.ty-contain-cm { white-space: normal; }
.CodeMirror-gutters { margin-right: 4px; }
.md-fences { font-size: 0.9rem; display: block; break-inside: avoid; text-align: left; overflow: visible; white-space: pre; background: inherit; position: relative !important; }
.md-fences-adv-panel { width: 100%; margin-top: 10px; text-align: center; padding-top: 0px; padding-bottom: 8px; overflow-x: auto; }
#write .md-fences.mock-cm { white-space: pre-wrap; }
.md-fences.md-fences-with-lineno { padding-left: 0px; }
#write.fences-no-line-wrapping .md-fences.mock-cm { white-space: pre; overflow-x: auto; }
.md-fences.mock-cm.md-fences-with-lineno { padding-left: 8px; }
.CodeMirror-line, twitterwidget { break-inside: avoid; }
svg { break-inside: avoid; }
.footnotes { opacity: 0.8; font-size: 0.9rem; margin-top: 1em; margin-bottom: 1em; }
.footnotes + .footnotes { margin-top: 0px; }
.md-reset { margin: 0px; padding: 0px; border: 0px; outline: 0px; vertical-align: top; background: 0px 0px; text-decoration: none; text-shadow: none; float: none; position: static; width: auto; height: auto; white-space: nowrap; cursor: inherit; -webkit-tap-highlight-color: transparent; line-height: normal; font-weight: 400; text-align: left; box-sizing: content-box; direction: ltr; }
li div { padding-top: 0px; }
blockquote { margin: 1rem 0px; }
li .mathjax-block, li p { margin: 0.5rem 0px; }
li blockquote { margin: 1rem 0px; }
li { margin: 0px; position: relative; }
blockquote > :last-child { margin-bottom: 0px; }
blockquote > :first-child, li > :first-child { margin-top: 0px; }
.footnotes-area { color: rgb(136, 136, 136); margin-top: 0.714rem; padding-bottom: 0.143rem; white-space: normal; }
#write .footnote-line { white-space: pre-wrap; }
@media print {
  body, html { border: 1px solid transparent; height: 99%; break-after: avoid; break-before: avoid; font-variant-ligatures: no-common-ligatures; }
  #write { margin-top: 0px; border-color: transparent !important; padding-top: 0px !important; padding-bottom: 0px !important; }
  .typora-export * { -webkit-print-color-adjust: exact; }
  .typora-export #write { break-after: avoid; }
  .typora-export #write::after { height: 0px; }
  .is-mac table { break-inside: avoid; }
  #write > p:nth-child(1) { margin-top: 0px; }
  .typora-export-show-outline .typora-export-sidebar { display: none; }
  figure { overflow-x: visible; }
}
.footnote-line { margin-top: 0.714em; font-size: 0.7em; }
a img, img a { cursor: pointer; }
pre.md-meta-block { font-size: 0.8rem; min-height: 0.8rem; white-space: pre-wrap; background: rgb(204, 204, 204); display: block; overflow-x: hidden; }
p > .md-image:only-child:not(.md-img-error) img, p > img:only-child { display: block; margin: auto; }
#write.first-line-indent p > .md-image:only-child:not(.md-img-error) img { left: -2em; position: relative; }
p > .md-image:only-child { display: inline-block; width: 100%; }
#write .MathJax_Display { margin: 0.8em 0px 0px; }
.md-math-block { width: 100%; }
.md-math-block:not(:empty)::after { display: none; }
.MathJax_ref { fill: currentcolor; }
[contenteditable="true"]:active, [contenteditable="true"]:focus, [contenteditable="false"]:active, [contenteditable="false"]:focus { outline: 0px; box-shadow: none; }
.md-task-list-item { position: relative; list-style-type: none; }
.task-list-item.md-task-list-item { padding-left: 0px; }
.md-task-list-item > input { position: absolute; top: 0px; left: 0px; margin-left: -1.2em; margin-top: calc(1em - 10px); border: none; }
.math { font-size: 1rem; }
.md-toc { min-height: 3.58rem; position: relative; font-size: 0.9rem; border-radius: 10px; }
.md-toc-content { position: relative; margin-left: 0px; }
.md-toc-content::after, .md-toc::after { display: none; }
.md-toc-item { display: block; color: rgb(65, 131, 196); }
.md-toc-item a { text-decoration: none; }
.md-toc-inner:hover { text-decoration: underline; }
.md-toc-inner { display: inline-block; cursor: pointer; }
.md-toc-h1 .md-toc-inner { margin-left: 0px; font-weight: 700; }
.md-toc-h2 .md-toc-inner { margin-left: 2em; }
.md-toc-h3 .md-toc-inner { margin-left: 4em; }
.md-toc-h4 .md-toc-inner { margin-left: 6em; }
.md-toc-h5 .md-toc-inner { margin-left: 8em; }
.md-toc-h6 .md-toc-inner { margin-left: 10em; }
@media screen and (max-width: 48em) {
  .md-toc-h3 .md-toc-inner { margin-left: 3.5em; }
  .md-toc-h4 .md-toc-inner { margin-left: 5em; }
  .md-toc-h5 .md-toc-inner { margin-left: 6.5em; }
  .md-toc-h6 .md-toc-inner { margin-left: 8em; }
}
a.md-toc-inner { font-size: inherit; font-style: inherit; font-weight: inherit; line-height: inherit; }
.footnote-line a:not(.reversefootnote) { color: inherit; }
.reversefootnote { font-family: ui-monospace, sans-serif; }
.md-attr { display: none; }
.md-fn-count::after { content: "."; }
code, pre, samp, tt { font-family: var(--monospace); }
kbd { margin: 0px 0.1em; padding: 0.1em 0.6em; font-size: 0.8em; color: rgb(36, 39, 41); background: rgb(255, 255, 255); border: 1px solid rgb(173, 179, 185); border-radius: 3px; box-shadow: rgba(12, 13, 14, 0.2) 0px 1px 0px, rgb(255, 255, 255) 0px 0px 0px 2px inset; white-space: nowrap; vertical-align: middle; }
.md-comment { color: rgb(162, 127, 3); opacity: 0.6; font-family: var(--monospace); }
code { text-align: left; vertical-align: initial; }
a.md-print-anchor { white-space: pre !important; border-width: initial !important; border-style: none !important; border-color: initial !important; display: inline-block !important; position: absolute !important; width: 1px !important; right: 0px !important; outline: 0px !important; background: 0px 0px !important; text-decoration: initial !important; text-shadow: initial !important; }
.os-windows.monocolor-emoji .md-emoji { font-family: "Segoe UI Symbol", sans-serif; }
.md-diagram-panel > svg { max-width: 100%; }
[lang="flow"] svg, [lang="mermaid"] svg { max-width: 100%; height: auto; }
[lang="mermaid"] .node text { font-size: 1rem; }
table tr th { border-bottom: 0px; }
video { max-width: 100%; display: block; margin: 0px auto; }
iframe { max-width: 100%; width: 100%; border: none; }
.highlight td, .highlight tr { border: 0px; }
mark { background: rgb(255, 255, 0); color: rgb(0, 0, 0); }
.md-html-inline .md-plain, .md-html-inline strong, mark .md-inline-math, mark strong { color: inherit; }
.md-expand mark .md-meta { opacity: 0.3 !important; }
mark .md-meta { color: rgb(0, 0, 0); }
@media print {
  .typora-export h1, .typora-export h2, .typora-export h3, .typora-export h4, .typora-export h5, .typora-export h6 { break-inside: avoid; }
}
.md-diagram-panel .messageText { stroke: none !important; }
.md-diagram-panel .start-state { fill: var(--node-fill); }
.md-diagram-panel .edgeLabel rect { opacity: 1 !important; }
.md-fences.md-fences-math { font-size: 1em; }
.md-fences-advanced:not(.md-focus) { padding: 0px; white-space: nowrap; border: 0px; }
.md-fences-advanced:not(.md-focus) { background: inherit; }
.typora-export-show-outline .typora-export-content { max-width: 1440px; margin: auto; display: flex; flex-direction: row; }
.typora-export-sidebar { width: 300px; font-size: 0.8rem; margin-top: 80px; margin-right: 18px; }
.typora-export-show-outline #write { --webkit-flex:2; flex: 2 1 0%; }
.typora-export-sidebar .outline-content { position: fixed; top: 0px; max-height: 100%; overflow: hidden auto; padding-bottom: 30px; padding-top: 60px; width: 300px; }
@media screen and (max-width: 1024px) {
  .typora-export-sidebar, .typora-export-sidebar .outline-content { width: 240px; }
}
@media screen and (max-width: 800px) {
  .typora-export-sidebar { display: none; }
}
.outline-content li, .outline-content ul { margin-left: 0px; margin-right: 0px; padding-left: 0px; padding-right: 0px; list-style: none; overflow-wrap: anywhere; }
.outline-content ul { margin-top: 0px; margin-bottom: 0px; }
.outline-content strong { font-weight: 400; }
.outline-expander { width: 1rem; height: 1.42857rem; position: relative; display: table-cell; vertical-align: middle; cursor: pointer; padding-left: 4px; }
.outline-expander::before { content: ""; position: relative; font-family: Ionicons; display: inline-block; font-size: 8px; vertical-align: middle; }
.outline-item { padding-top: 3px; padding-bottom: 3px; cursor: pointer; }
.outline-expander:hover::before { content: ""; }
.outline-h1 > .outline-item { padding-left: 0px; }
.outline-h2 > .outline-item { padding-left: 1em; }
.outline-h3 > .outline-item { padding-left: 2em; }
.outline-h4 > .outline-item { padding-left: 3em; }
.outline-h5 > .outline-item { padding-left: 4em; }
.outline-h6 > .outline-item { padding-left: 5em; }
.outline-label { cursor: pointer; display: table-cell; vertical-align: middle; text-decoration: none; color: inherit; }
.outline-label:hover { text-decoration: underline; }
.outline-item:hover { border-color: rgb(245, 245, 245); background-color: var(--item-hover-bg-color); }
.outline-item:hover { margin-left: -28px; margin-right: -28px; border-left: 28px solid transparent; border-right: 28px solid transparent; }
.outline-item-single .outline-expander::before, .outline-item-single .outline-expander:hover::before { display: none; }
.outline-item-open > .outline-item > .outline-expander::before { content: ""; }
.outline-children { display: none; }
.info-panel-tab-wrapper { display: none; }
.outline-item-open > .outline-children { display: block; }
.typora-export .outline-item { padding-top: 1px; padding-bottom: 1px; }
.typora-export .outline-item:hover { margin-right: -8px; border-right: 8px solid transparent; }
.typora-export .outline-expander::before { content: "+"; font-family: inherit; top: -1px; }
.typora-export .outline-expander:hover::before, .typora-export .outline-item-open > .outline-item > .outline-expander::before { content: "−"; }
.typora-export-collapse-outline .outline-children { display: none; }
.typora-export-collapse-outline .outline-item-open > .outline-children, .typora-export-no-collapse-outline .outline-children { display: block; }
.typora-export-no-collapse-outline .outline-expander::before { content: "" !important; }
.typora-export-show-outline .outline-item-active > .outline-item .outline-label { font-weight: 700; }
.md-inline-math-container mjx-container { zoom: 0.95; }
mjx-container { break-inside: avoid; }


:root {
    --side-bar-bg-color: #fafafa;
    --control-text-color: #777;
}

@include-when-export url(https://fonts.loli.net/css?family=Open+Sans:400italic,700italic,700,400&subset=latin,latin-ext);

/* open-sans-regular - latin-ext_latin */
  /* open-sans-italic - latin-ext_latin */
    /* open-sans-700 - latin-ext_latin */
    /* open-sans-700italic - latin-ext_latin */
  html {
    font-size: 16px;
    -webkit-font-smoothing: antialiased;
}

body {
    font-family: "Open Sans","Clear Sans", "Helvetica Neue", Helvetica, Arial, 'Segoe UI Emoji', sans-serif;
    color: rgb(51, 51, 51);
    line-height: 1.6;
}

#write {
    max-width: 860px;
  	margin: 0 auto;
  	padding: 30px;
    padding-bottom: 100px;
}

@media only screen and (min-width: 1400px) {
	#write {
		max-width: 1024px;
	}
}

@media only screen and (min-width: 1800px) {
	#write {
		max-width: 1200px;
	}
}

#write > ul:first-child,
#write > ol:first-child{
    margin-top: 30px;
}

a {
    color: #4183C4;
}
h1,
h2,
h3,
h4,
h5,
h6 {
    position: relative;
    margin-top: 1rem;
    margin-bottom: 1rem;
    font-weight: bold;
    line-height: 1.4;
    cursor: text;
}
h1:hover a.anchor,
h2:hover a.anchor,
h3:hover a.anchor,
h4:hover a.anchor,
h5:hover a.anchor,
h6:hover a.anchor {
    text-decoration: none;
}
h1 tt,
h1 code {
    font-size: inherit;
}
h2 tt,
h2 code {
    font-size: inherit;
}
h3 tt,
h3 code {
    font-size: inherit;
}
h4 tt,
h4 code {
    font-size: inherit;
}
h5 tt,
h5 code {
    font-size: inherit;
}
h6 tt,
h6 code {
    font-size: inherit;
}
h1 {
    font-size: 2.25em;
    line-height: 1.2;
    border-bottom: 1px solid #eee;
}
h2 {
    font-size: 1.75em;
    line-height: 1.225;
    border-bottom: 1px solid #eee;
}

/*@media print {
    .typora-export h1,
    .typora-export h2 {
        border-bottom: none;
        padding-bottom: initial;
    }

    .typora-export h1::after,
    .typora-export h2::after {
        content: "";
        display: block;
        height: 100px;
        margin-top: -96px;
        border-top: 1px solid #eee;
    }
}*/

h3 {
    font-size: 1.5em;
    line-height: 1.43;
}
h4 {
    font-size: 1.25em;
}
h5 {
    font-size: 1em;
}
h6 {
   font-size: 1em;
    color: #777;
}
p,
blockquote,
ul,
ol,
dl,
table{
    margin: 0.8em 0;
}
li>ol,
li>ul {
    margin: 0 0;
}
hr {
    height: 2px;
    padding: 0;
    margin: 16px 0;
    background-color: #e7e7e7;
    border: 0 none;
    overflow: hidden;
    box-sizing: content-box;
}

li p.first {
    display: inline-block;
}
ul,
ol {
    padding-left: 30px;
}
ul:first-child,
ol:first-child {
    margin-top: 0;
}
ul:last-child,
ol:last-child {
    margin-bottom: 0;
}
blockquote {
    border-left: 4px solid #dfe2e5;
    padding: 0 15px;
    color: #777777;
}
blockquote blockquote {
    padding-right: 0;
}
table {
    padding: 0;
    word-break: initial;
}
table tr {
    border: 1px solid #dfe2e5;
    margin: 0;
    padding: 0;
}
table tr:nth-child(2n),
thead {
    background-color: #f8f8f8;
}
table th {
    font-weight: bold;
    border: 1px solid #dfe2e5;
    border-bottom: 0;
    margin: 0;
    padding: 6px 13px;
}
table td {
    border: 1px solid #dfe2e5;
    margin: 0;
    padding: 6px 13px;
}
table th:first-child,
table td:first-child {
    margin-top: 0;
}
table th:last-child,
table td:last-child {
    margin-bottom: 0;
}

.CodeMirror-lines {
    padding-left: 4px;
}

.code-tooltip {
    box-shadow: 0 1px 1px 0 rgba(0,28,36,.3);
    border-top: 1px solid #eef2f2;
}

.md-fences,
code,
tt {
    border: 1px solid #e7eaed;
    background-color: #f8f8f8;
    border-radius: 3px;
    padding: 0;
    padding: 2px 4px 0px 4px;
    font-size: 0.9em;
}

code {
    background-color: #f3f4f4;
    padding: 0 2px 0 2px;
}

.md-fences {
    margin-bottom: 15px;
    margin-top: 15px;
    padding-top: 8px;
    padding-bottom: 6px;
}


.md-task-list-item > input {
  margin-left: -1.3em;
}

@media print {
    html {
        font-size: 13px;
    }
    pre {
        page-break-inside: avoid;
        word-wrap: break-word;
    }
}

.md-fences {
	background-color: #f8f8f8;
}
#write pre.md-meta-block {
	padding: 1rem;
    font-size: 85%;
    line-height: 1.45;
    background-color: #f7f7f7;
    border: 0;
    border-radius: 3px;
    color: #777777;
    margin-top: 0 !important;
}

.mathjax-block>.code-tooltip {
	bottom: .375rem;
}

.md-mathjax-midline {
    background: #fafafa;
}

#write>h3.md-focus:before{
	left: -1.5625rem;
	top: .375rem;
}
#write>h4.md-focus:before{
	left: -1.5625rem;
	top: .285714286rem;
}
#write>h5.md-focus:before{
	left: -1.5625rem;
	top: .285714286rem;
}
#write>h6.md-focus:before{
	left: -1.5625rem;
	top: .285714286rem;
}
.md-image>.md-meta {
    /*border: 1px solid #ddd;*/
    border-radius: 3px;
    padding: 2px 0px 0px 4px;
    font-size: 0.9em;
    color: inherit;
}

.md-tag {
    color: #a7a7a7;
    opacity: 1;
}

.md-toc { 
    margin-top:20px;
    padding-bottom:20px;
}

.sidebar-tabs {
    border-bottom: none;
}

#typora-quick-open {
    border: 1px solid #ddd;
    background-color: #f8f8f8;
}

#typora-quick-open-item {
    background-color: #FAFAFA;
    border-color: #FEFEFE #e5e5e5 #e5e5e5 #eee;
    border-style: solid;
    border-width: 1px;
}

/** focus mode */
.on-focus-mode blockquote {
    border-left-color: rgba(85, 85, 85, 0.12);
}

header, .context-menu, .megamenu-content, footer{
    font-family: "Segoe UI", "Arial", sans-serif;
}

.file-node-content:hover .file-node-icon,
.file-node-content:hover .file-node-open-state{
    visibility: visible;
}

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</style><title>MickRobot</title>
</head>
<body class='typora-export os-windows'><div class='typora-export-content'>
<div id='write'  class=''><p><strong><span>MickRobot </span></strong><span> 是一个</span><a href='https://github.com/RuPingCen/mick_robot_chasiss'><span>开源小车制作项目</span></a><span>，教程内容包含底盘的搭建过程，基于激光雷达的导航内容。项目中小车的3D图、控制板原理图和PCB文件、控制代码均为开源。该项目具有一下特性</span></p><ul><li><p><span>1）支持两轮差速小车、四轮差速小车、麦克纳姆轮底盘三种底盘运动学模型</span></p></li><li><p><span>2）支持DBUS遥控器（大疆DT7遥控器）、SBUS遥控器（RadioLink T8FB）</span></p></li><li><p><span>3）配套ROS节点和URDF模型</span></p></li></ul><p>&nbsp;</p><p><img src="MickRobot.assets/fig1.jpg" referrerpolicy="no-referrer" alt="fig10-1"></p><p>&nbsp;</p><p><span>QQ交流群（开源ROS自主导航小车：</span><strong><span>1149897304</span></strong><span>）</span></p><p><img src="MickRobot.assets/fig2-QQGroup.png" referrerpolicy="no-referrer" alt="QQGroup"></p><p>&nbsp;</p><p><strong><span>感谢</span></strong><span>：</span></p><ul><li><p><span>徐久铭师弟帮忙设计小车的机械图以及组装。</span></p></li><li><p><span>于力率、温宝愉、舒康设计测试原型控制板。</span></p></li><li><p><span>重庆大学机器人与智慧系统实验室（RIS）经费支持。</span></p></li></ul><p><span>1、开箱视频，介绍机器人的接线，结构</span>
<span>2、分析控制板的接口</span>
<span>3、分析功能代码：</span></p><ul><li><p><span>DBUS的解码功能</span></p></li><li><p><span>CAN总线电机读取</span></p></li><li><p><span>PID控制器</span></p></li><li><p><span>IMU数据读取</span></p></li><li><p><span>上位机通讯，单片机端，ROS端应该如何编写</span></p></li></ul><p><mark><span>注：</span></mark><span> 本系列教程中开源的PCB文件、3D模型、相关代码，仅仅供大家自己学习自主导航小车使用，不可用于商业用途。</span></p><p>&nbsp;</p><p><span>版本信息 V1.0.0</span></p><div style="page-break-after:always"></div><div class='md-toc' mdtype='toc'><p class="md-toc-content" role="list"><span role="listitem" class="md-toc-item md-toc-h1" data-ref="n43"><a class="md-toc-inner" href="#硬件操作篇">硬件操作篇</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n44"><a class="md-toc-inner" href="#操控说明">操控说明</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n50"><a class="md-toc-inner" href="#mick小车控制板">Mick小车控制板</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n64"><a class="md-toc-inner" href="#控制板连线说明">控制板连线说明</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n66"><a class="md-toc-inner" href="#遥控器接收机连线">遥控器接收机连线</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n69"><a class="md-toc-inner" href="#电机连线">电机连线</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n71"><a class="md-toc-inner" href="#状态指示与按键">状态指示与按键</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n142"><a class="md-toc-inner" href="#总线接口">总线接口</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n147"><a class="md-toc-inner" href="#外部io扩展">外部IO扩展</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n216"><a class="md-toc-inner" href="#供电接口">供电接口</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n218"><a class="md-toc-inner" href="#外形尺寸-1">外形尺寸</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n223"><a class="md-toc-inner" href="#大疆dt7遥控器操作说明">大疆DT7遥控器操作说明</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n230"><a class="md-toc-inner" href="#乐迪t8fb遥控器使用说明">乐迪T8FB遥控器使用说明</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n242"><a class="md-toc-inner" href="#c620电调id修改">C620电调ID修改</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n247"><a class="md-toc-inner" href="#小车电源板">小车电源板</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n251"><a class="md-toc-inner" href="#输出参数">输出参数</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n260"><a class="md-toc-inner" href="#外形尺寸-2">外形尺寸</a></span><span role="listitem" class="md-toc-item md-toc-h1" data-ref="n263"><a class="md-toc-inner" href="#底盘控制代码">底盘控制代码</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n265"><a class="md-toc-inner" href="#控制器整体任务逻辑">控制器整体任务逻辑</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n267"><a class="md-toc-inner" href="#遥控协议">遥控协议</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n269"><a class="md-toc-inner" href="#dbus协议">DBUS协议</a></span><span role="listitem" class="md-toc-item md-toc-h3" data-ref="n285"><a class="md-toc-inner" href="#sbus协议">SBUS协议</a></span><span role="listitem" class="md-toc-item md-toc-h2" data-ref="n308"><a class="md-toc-inner" href="#ros通讯节点">ROS通讯节点</a></span></p></div><div style="page-break-after:always"></div><h1 id='硬件操作篇'><span>硬件操作篇</span></h1><h2 id='操控说明'><span>操控说明</span></h2><p><span>Mick小车这个开源项目的控制器一共支持差速(2轮差速、4轮差速)、麦克纳姆轮2种类型的底盘。这里我们以四轮差速底盘为例讲解，小车底盘组装好以后如下图所示，电机呈U形状排列，从上往下看，左上角电机ID编号为1，左下角电机ID为2，右下角电机ID为3，右上角电机ID为4。</span></p><p><img src="MickRobot.assets/image-20221118200720999.png" referrerpolicy="no-referrer" alt="image-20221118200720999"></p><center>MickX4小车实物图及车轮编号</center><p><span>MickX4 这个型号的小车采用的结构是差速结构，同一侧的轮子的速度保存一致。小车的轮子编号是从左上角开始的，呈U形排布，依次左上角、左下角、右下角、右上角分别对应电机ID1-4。</span></p><p>&nbsp;</p><h2 id='mick小车控制板'><span>Mick小车控制板</span></h2><p><span>小车控制板基于STM32F1C8T6实现，包含有常用总线接口，同时支持5V和12V电源输出，可以满足基本需要。</span></p><ul><li><p><span>3路串口、1路CAN接口、1路485接口（与串口3复用）</span></p></li><li><p><span>1路DBUS、SBUS遥控信号输入</span></p></li><li><p><span>3个状态指示灯，2个独立按键、4个编码开关</span></p></li><li><p><span>4路隔离输入、4路隔离输出(12V)</span></p></li></ul><p><span>控制板原理图及PCB可从github或者加QQ群获取。 </span>
<span>代码地址：</span><a href='https://github.com/RuPingCen/mick_robot_chasiss' target='_blank' class='url'>https://github.com/RuPingCen/mick_robot_chasiss</a>
<span>原理图：</span><a href='https://github.com/RuPingCen/mick_robot_chasiss/tree/master/Reference' target='_blank' class='url'>https://github.com/RuPingCen/mick_robot_chasiss/tree/master/Reference</a></p><p><img src="MickRobot.assets/mick_control_fig/control_fig0.png" alt="control_fig0" style="zoom:50%;" /></p><center>Mick小车控制板实物</center><h3 id='控制板连线说明'><span>控制板连线说明</span></h3><p><span>	</span><span>小车四个电机控制线通过CAN总线与控制板相连接，遥控器接收机通过控制板上的DBUS接口连接，上位机则通过232串口连接。</span></p><h3 id='遥控器接收机连线'><span>遥控器接收机连线</span></h3><p><span>	</span><span>将接收机的GND、VCC、DBUS 对应连接到控制板上的蓝色排针上的GND、VCC、Tx。这里DR16接收机和普通的DBUS接收机的接线方式相同。</span></p><p><img src="MickRobot.assets/mick_control_fig/control_fig2.png" referrerpolicy="no-referrer" alt="image-20220515154352800"></p><h3 id='电机连线'><span>电机连线</span></h3><p><span>控制板支持SBUS和DBUS两种协议的遥控器信号输入，这里主要是针对大疆的遥控器和乐迪的T8FB遥控器。</span></p><h3 id='状态指示与按键'><span>状态指示与按键</span></h3><p><span>① </span><strong><span>3路LED指示灯</span></strong><span>用于显示程序状态。</span></p><p><span>		</span><span>LED1： 指示程序运行状态，正常运行为每秒20hz闪烁。</span></p><p><span>		</span><span>LED2： 指示遥控器数据 每收到一次遥控器数据闪烁LED灯状态取反一次。</span></p><p><span>		</span><span>LED3： 指示CAN总线数据 每收到一次CAN数据闪烁LED灯状态取反一次</span>
<span>② </span><strong><span>2路按键</span></strong>
<span>③ </span><strong><span>4路拨码开关</span></strong><span>用于调试和选择程序功能。第1位和第2位用于组合选择底盘的功能模式（差速和麦克纳姆轮），第3位开关用于选择遥控器类型（SBUS或DBUS），第4位空闲</span></p><figure><table><thead><tr><th style='text-align:center;' ><strong><span>序号</span></strong></th><th style='text-align:center;' ><strong><span>第1位</span></strong></th><th style='text-align:center;' ><strong><span>第2位</span></strong></th><th style='text-align:center;' ><strong><span>第3位</span></strong></th><th style='text-align:center;' ><strong><span>第4位</span></strong></th><th style='text-align:center;' ><strong><span>功能说明</span></strong></th></tr></thead><tbody><tr><td style='text-align:center;' ><span>1</span></td><td style='text-align:center;' ><strong><span>0</span></strong></td><td style='text-align:center;' ><strong><span>0</span></strong></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>差速底盘</span></td></tr><tr><td style='text-align:center;' ><span>2</span></td><td style='text-align:center;' ><strong><span>0</span></strong></td><td style='text-align:center;' ><strong><span>1</span></strong></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>麦克纳姆轮底盘</span></td></tr><tr><td style='text-align:center;' ><span>3</span></td><td style='text-align:center;' ><strong><span>1</span></strong></td><td style='text-align:center;' ><strong><span>0</span></strong></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>4WS4WD移动底盘</span></td></tr><tr><td style='text-align:center;' ><span>4</span></td><td style='text-align:center;' ><strong><span>1</span></strong></td><td style='text-align:center;' ><strong><span>1</span></strong></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>无</span></td></tr><tr><td style='text-align:center;' ><span>6</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><strong><span>0</span></strong></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>SBUS协议（乐迪）</span></td></tr><tr><td style='text-align:center;' ><span>7</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><strong><span>1</span></strong></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>DBUS协议（大疆）</span></td></tr><tr><td style='text-align:center;' ><span>8</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>x</span></td><td style='text-align:center;' ><span>无</span></td></tr><tr><td style='text-align:center;' ><span>9</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>x</span></td><td style='text-align:center;' ><span>无</span></td></tr></tbody></table></figure><p><span>注：1表示开关拨到On位置</span></p><p><img src="MickRobot.assets/mick_control_fig/control_fig6.png" alt="image-20220515162502013" style="zoom:40%;" /></p><h3 id='总线接口'><span>总线接口</span></h3><p><span>	</span><span>1路DBUS接口、1路232接口、1路CAN总线、1路485接口、1路UART3接口（与485复用）、1路IIC。其中DBUS被用来接收遥航模遥控器的数据，232接口负责与上位机ROS通讯。CAN总线连接4个M3508电机。IIC连接板子上安装的MPU9250。485接口和UART3接口复用，可扩展其他传感器模块。</span></p><p><strong><span>注：</span></strong><span>485接口和UART3是通过同一组串口复用实现的，默认选择了485功能，如果需要使用UART3接口，则将下图的黄色跳线帽拔下，连接右侧两个针脚即可选中UART3接口功能。</span></p><p><img src="MickRobot.assets/mick_control_fig/control_fig7.png" alt="image-20220515162525031" style="zoom:50%;" /></p><p>&nbsp;</p><h3 id='外部io扩展'><span>外部IO扩展</span></h3><p><span>4路隔离输入（输入电压范围12-24V）。4路隔离输出（输出高阻态和GND，承受电流2A）。  控制板引脚功能如下</span></p><figure><table><thead><tr><th style='text-align:center;' ><strong><span>名称</span></strong></th><th style='text-align:center;' ><strong><span>引脚</span></strong></th><th style='text-align:center;' >&nbsp;</th><th style='text-align:center;' >&nbsp;</th><th style='text-align:center;' ><strong><span>功能</span></strong></th></tr></thead><tbody><tr><td style='text-align:center;' ><span>LED</span></td><td style='text-align:center;' ><span>PA6（LED1）</span></td><td style='text-align:center;' ><span>PA5（LED2）</span></td><td style='text-align:center;' ><span>C13（LED3）</span></td><td style='text-align:center;' ><span>状态指示</span></td></tr><tr><td style='text-align:center;' ><span>按键</span></td><td style='text-align:center;' ><span>PA7（KEY1）</span></td><td style='text-align:center;' ><span>PB2（KEY2）</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' >&nbsp;</td></tr><tr><td style='text-align:center;' ><span>四路拨码开关</span></td><td style='text-align:center;' ><span>PB5</span></td><td style='text-align:center;' ><span>PB4</span></td><td style='text-align:center;' ><span>PB3</span></td><td style='text-align:center;' ><span>PA15</span></td></tr><tr><td style='text-align:center;' ><span>隔离输入</span></td><td style='text-align:center;' ><span>PB15（IN1）</span></td><td style='text-align:center;' ><span>PB14（IN2）</span></td><td style='text-align:center;' ><span>PB13（IN3）</span></td><td style='text-align:center;' ><span>PB12（IN4）</span></td></tr><tr><td style='text-align:center;' ><span>隔离输出</span></td><td style='text-align:center;' ><span>PB0（OUT1）</span></td><td style='text-align:center;' ><span>PB1（OUT2）</span></td><td style='text-align:center;' ><span>PB8（OUT3）</span></td><td style='text-align:center;' ><span>PB9（OUT4）</span></td></tr><tr><td style='text-align:center;' ><span>UART1</span></td><td style='text-align:center;' ><span>PA9</span></td><td style='text-align:center;' ><span>PA10</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>连接DBUS</span></td></tr><tr><td style='text-align:center;' ><span>UART2</span></td><td style='text-align:center;' ><span>PA2</span></td><td style='text-align:center;' ><span>PA3</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>与上位机通讯</span></td></tr><tr><td style='text-align:center;' ><span>UART3</span></td><td style='text-align:center;' ><span>PB10</span></td><td style='text-align:center;' ><span>PB11</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>复用485和UART3</span></td></tr><tr><td style='text-align:center;' ><span>IIC</span></td><td style='text-align:center;' ><span>PB6(SCL)</span></td><td style='text-align:center;' ><span>PB7(SDA)</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>连接MPU9250</span></td></tr><tr><td style='text-align:center;' ><span>CAN</span></td><td style='text-align:center;' ><span>A12</span></td><td style='text-align:center;' ><span>A11</span></td><td style='text-align:center;' >&nbsp;</td><td style='text-align:center;' ><span>连接M3508电机</span></td></tr></tbody></table></figure><h3 id='供电接口'><span>供电接口</span></h3><p><span>控制板输入20-36V DC直流，对外提供1路</span><strong><span>DC 5V 2.5A</span></strong><span> 、1路</span><strong><span>DC 12V 2.5A</span></strong><span> 对车载传感器供电。</span></p><h3 id='外形尺寸-1'><span>外形尺寸</span></h3><p><span>板子外形为99*99 mm 安装孔位于四周呈轴对称分布，孔中心间距为93mm,孔直径为φ3.1 mm。如下图所示。</span></p><p><img src="MickRobot.assets/mick_control_fig/control_fig19.png" alt="control_fig4" style="zoom:50%;" /></p><center>Mick小车控制板PCB</center><p>&nbsp;</p><h2 id='大疆dt7遥控器操作说明'><span>大疆DT7遥控器操作说明</span></h2><p><span>控制板支持SBUS和DBUS两种协议的遥控器信号输入，这里主要是针对大疆的遥控器和乐迪的T8FB遥控器进行介绍。两种协议通过板子上拨码开关的第3号位置开关进行功能选择。当第3号位置上的拨码开关拨到</span><mark><span>ON侧</span></mark><span>则表示DBUS（大疆遥控器）功能启用，否则使用SBUS(乐迪)通讯协议。</span></p><p>&nbsp;</p><p><span>①遥控器左上角的拨动开关为功能选择按键：置于OFF档表示不使能遥控器（此时遥控器左右摇杆无反应，遥控器无法控制小车，由上位机控制小车，即遥控器优先级高于上位机）。置于CL、CH 档表示由遥控器控制小车，忽略上位机命令。</span></p><p><span>②遥控器右上角拨动开关上中下位置分别对应小车1m/s、2m/s、3.5m/s速度</span></p><p><span>③右手边摇杆竖直方向通道控制小车前后运动（如下图所示），右边的摇杆水平通道控制小车左右旋转。</span></p><p><img src="MickRobot.assets/mick_control_fig/control_fig21.jpg" alt="control_fig21" style="zoom: 50%;" /></p><h2 id='乐迪t8fb遥控器使用说明'><span>乐迪T8FB遥控器使用说明</span></h2><p><span>考虑到大疆遥控器价格昂贵（遥控器+接收=600+），因此新增加了对SBUS遥控器的支持，并且保持与大疆遥控器相同的操作方式。将第3号位置上的拨码开关拨到</span><mark><span>数字侧</span></mark><span>，表示SBUS功能。这里我用的时左手油门的RadioLink T8FB遥控器。</span></p><ol start='' ><li><p><span>遥控器左上角的拨动开关为功能选择按键：置于L档，即最上方位置，表示不使能遥控器。置于H档表示由遥控器控制小车，忽略上位机命令。</span></p></li><li><p><span>遥控器右上角拨动开关上中下位置分别对应小车1m/s、2m/s、3.5m/s速度。</span></p></li><li><p><span>右手边摇杆竖直方向通道控制小车前后运动（如下图所示），右边的摇杆水平通道控制小车左右旋转。</span></p></li></ol><p><img src="MickRobot.assets/mick_control_fig/image-20220515223751707.png" alt="image-20220515223751707" style="zoom:50%;" /></p><p><strong><span>注：</span></strong><span>在拿到遥控器的时候要注意将第1通道（右手摇杆竖直方向通道）反向，保证摇杆拉到最下方的时候遥控器输出最小值，最上方输出最大值。同时，对于水平方向通道而言，拉到最左边输出最小值，最右方向输出最大值。（可以使用乐迪官方的参数配置软件进行配置“T8S-T8FB电脑调参APP V4.2”，下图是我修改后的状态。）</span></p><p><img src="MickRobot.assets/mick_control_fig/Radiolink_config.png" alt="Radiolink_config" style="zoom: 50%;" /></p><h2 id='c620电调id修改'><span>C620电调ID修改</span></h2><p><span>小车采用的电机是大疆的M3508这个型号的电机，搭配C620这个电调控制器。如果需要修改小车的结构，进行二次开发，或者更新新的电调的时候。我们可以使用一个回形针去修改这个C620的电调ID,电调上的指示灯快闪的次数就表示电调的ID。</span></p><p><img src="MickRobot.assets/image-20221118162212609.png" referrerpolicy="no-referrer" alt="image-20221118162212609"></p><p>&nbsp;</p><p><span>[^[c620电调说明说</span><span>]</span><span>(</span><a href='https://rm-static.djicdn.com/tem/17348/RoboMaster%20C620%20Brushless%20DC%20Motor%20Speed%20Controller%20V1.01.pdf' target='_blank' class='url'>https://rm-static.djicdn.com/tem/17348/RoboMaster%20C620%20Brushless%20DC%20Motor%20Speed%20Controller%20V1.01.pdf</a><span>)]: </span></p><h2 id='小车电源板'><span>小车电源板</span></h2><p><span>在自主导航小车上我们通常需要对工控机供电（19V 3A）、激光雷达（12V 1A）、网桥、4G路由器等（12V），以及其他的一些辅助传感器供电。因此我们设计了一款输入20-36V直流输入，输出5V、12V、19V、3.3-19V可调4路直流电压的电源板，如下图所示。可满足自主导航小车所需传感器的供电需求。原理图可从github上获取或者加QQ群获取。</span></p><p><img src="MickRobot.assets/mick_powerl_fig/fig1.png" alt="image-20220515231242293" style="zoom:40%;" /></p><p>&nbsp;</p><h3 id='输出参数'><span>输出参数</span></h3><p><span>如下图所示，电源板输入20-36V DC直流，</span><strong><span>输出1路DC 5V 2A</span></strong><span> 、</span><strong><span>1路DC 3.3-19V 2A 可调电源</span></strong><span> 、</span><strong><span>1路DC 12V 3.5A、1路DC 19V 3.5A</span></strong><span>，可满足对工控机和自主导航小车车载传感器供电需求。</span></p><p><img src="MickRobot.assets/mick_powerl_fig/fig2.png" alt="pwr_fig1" style="zoom:50%;" /></p><p><span>经过电子负载实际测试，5V和3.3V-19V 采用LM2596S方案,每一路可实现2A的稳定输出，加装散热片以后可实现2.5A长时间输出，如图2所示。</span></p><p><span>12V 在电子负载实测中可以达到长时间稳定输出3.5A 输出，加装扇热片以后可以实现4A长时间输出，短时可达4.5A，如图3所示。</span></p><p><span>19V在电子负载实测中可以达到长时间稳定输出3.5A 输出，加装扇热片以后可以实现4A长时间输出，短时可达4.5A，如图4所示。</span></p><p><img src="MickRobot.assets/mick_powerl_fig/pwr_fig2.png" referrerpolicy="no-referrer" alt="pwr_fig2"></p><center>19V输出测试</center><p><span>                                                                                </span></p><h3 id='外形尺寸-2'><span>外形尺寸</span></h3><p><span>板子外形为99*99 mm 安装孔位于四周呈轴对称分布，孔中心间距为93mm,孔直径为φ3.1 mm。如图6所示。</span></p><p><img src="MickRobot.assets/mick_powerl_fig/pwr_fig6.png" alt="pwr_fig6" style="zoom:50%;" /></p><h1 id='底盘控制代码'><span>底盘控制代码</span></h1><p><span>控制代码基于STM32F103C8T6实现，代码位于github厂库中。控制板硬件经历过两次迭代，</span><a href='https://rupingcen.blog.csdn.net/article/details/108475154'><span>代码逻辑可以参考之前的博客（开源自主导航小车MickX4（二）ROS底盘运动控制）</span></a></p><h2 id='控制器整体任务逻辑'><span>控制器整体任务逻辑</span></h2><p>&nbsp;</p><h2 id='遥控协议'><span>遥控协议</span></h2><p>&nbsp;</p><h3 id='dbus协议'><span>DBUS协议</span></h3><p><span>		</span><span>DBUS 这里主要是指大疆的DT7这个遥控器，接收机型号为DR16，该接收机也是最大支持16个通道。DR16接收机输出的信号为标准的DBUS协议数据,当遥控器与接收机建立连接后，接收机每隔14ms通过DBUS发送一帧1</span><strong><span>8字节数</span></strong><span>据。也可以接入电脑获取键盘鼠标控制信息，这个可以查阅robomaster比赛的相关资料。</span></p><p><span>如下图所示，DR16输出的前 6个字节（11*4+4）包含了遥控器上摇杆的数据，后续有10个字节（16 *5）描述键盘的相关信息，保留位有两个字节，共计18个字节。</span></p><p><img src="MickRobot.assets/mick_control_fig/image-20211129164521127.png" alt="img" style="zoom: 50%;" /></p><p><span>在解析该信号时候也需要通过一个非门电路对DBUS信号取反，波特率同样为100Kbps。</span></p><p><img src="MickRobot.assets/mick_control_fig/image-20211129163253458.png" alt="img" style="zoom: 50%;" /></p><p><span>DR16接收机输出数据如下：</span></p><ol start='' ><li><p><span>右手横向方向对应通道1，右手竖直方向对应通道2，左手竖直方向对应通道4  横向方向对应通道3。</span></p></li><li><p><span>通道1至4摇杆，中间是1024 ， 水平方向向左最小（364），水平向右最大（1684）竖直方向向下最小。</span></p></li><li><p><span>左侧SW1的按键值为off-1 CL-3 CH-2，左侧SW2按键值为 GPS-1 ATTI中间-3  ATTI最下-2。</span></p></li></ol><p>&nbsp;</p><p><span> </span></p><h3 id='sbus协议'><span>SBUS协议</span></h3><p><span>SBUS全称serial-bus，同样是一种串口通信协议，Futaba的遥控器使用较多。SBUS的数据帧格式总共25个字节，包含16个通道的数据。一个起始位字节，16个通道中每个通道占用11bit位，因此11</span><em><span>16=8</span></em><span>22，16个通道占用22个字节，</span><strong><span>第24</span></strong><span>个字节为状态位，第25个字节为结束位0x00。</span></p><p><span>与DBUS信号一致，SBUS也是反向逻辑，使用时候需要通过一个反相器，并将串口配置为100k波特率，8位数据位，2位停止位，偶校验（EVEN)，无控流。协议格式：（8字节）</span>
<span>​       [startbyte] </span>[<span>data1</span>][data2]<span>…</span>[<span>data22</span>][flags]<span> [endbyte]</span>
<span>​       startbyte=0x0f;</span>
<span>​       endbyte=0x00;</span>
<span>​       data1…data22: LSB（低位在前），对应16个通道（ch1-ch16），每个通道11bit（22 × 8=16 × 11)；</span></p><p><span>其中，flag位标志遥控器的通讯状态，我使用的乐迪AT9S在遥控器通上的时候是0x00，断开的时候是0xC0，可以通过查询flag位来采取失控保护。</span></p><p>&nbsp;</p><p><span>T8FB数据范围 RadioLink遥控器(左手油门)输出数据如下：</span></p><ol start='' ><li><p><span>右手横向方向对应通道1，右手竖直方向对应通道2， 左手竖直方向对应通道3，横向方向对应通道4。</span></p></li><li><p><span>通道1、3 摇杆，最下侧对应1800 最上侧对应200 中间值1000</span></p></li><li><p><span>通道2、4 摇杆，左侧200 最右侧1800 中间值1000</span></p></li><li><p><span>通道5 L对应200（最上侧） 中间为1000 最下为1800</span></p></li><li><p><span>通道6 L对应200（ 中间为1000 最下为1800</span></p></li><li><p><span>通道7 L对应200  H位置对应1800</span></p></li><li><p><span>通道8  L位置对应200 H位置对应1800</span></p></li></ol><p><strong><span>注：不同遥控器的中间值可能不同，</span></strong><span>且通道的最大值也不一定总在左侧和上方。如天地飞遥控器 WFT09-II(左手油门)。其右手横向方向对应通道1，竖直方向对应通道2，左手竖直方向对应通道3，横向方向对应通道4。通道1-4 的范围是200-1820左右，中间值是1020，摇杆拨到最下方或者最右对应通道最小。</span></p><p>&nbsp;</p><h2 id='ros通讯节点'><span>ROS通讯节点</span></h2><p><span>配套ROS节点位于这个地址：</span><a href='https://github.com/RuPingCen/mick_robot/tree/master/mick_bringup' target='_blank' class='url'>https://github.com/RuPingCen/mick_robot/tree/master/mick_bringup</a></p><p><span>与ROS节点的通讯协议为：</span><a href='https://docs.qq.com/sheet/DV2hmSEdSYVVtclB4?u=05ce7c972c744a87877202d1e7c37914&amp;tab=bb08j2' target='_blank' class='url'>https://docs.qq.com/sheet/DV2hmSEdSYVVtclB4?u=05ce7c972c744a87877202d1e7c37914&tab=bb08j2</a></p><p><img src="MickRobot.assets/mick_control_fig/control_fig20.png" alt="Radiolink_config" style="zoom: 50%;" /></p><p>&nbsp;</p><p>&nbsp;</p><p><span> </span></p></div></div>
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