D-BOT
一个可 AI 控制的桌面机器人, X-Knob 智能旋钮的变换形态
Stars: 89
D-BOT is a desktop robot controlled by AI, featuring full functionality of X-Knob. It supports X-Knob native support, remote control via Bluetooth, wireless parameter tuning, and AI control. The project also includes 3D modeling and PCB design. The hardware includes 4 PCBs, ESP32-S3 MCU, circular LCD screen, magnetic encoder, and brushless DC motor. The 3D printed parts consist of chassis, wheel adapter, battery buckle, screen frame, and support. The tool can be set up using VScode + PlatformIO, and allows wireless tuning through SimpleFOCStudio. The project is inspired by Super_Balance open-source balance car project.
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D-BOT 是一个桌面机器人(Desktop Bot),可通过 AI 精确控制,同时具备 X-Knob 的全功能。我同时更想称 D-BOT 为小探索家(Discovery Bot),它能探索这个世界,同时也是我对我自己的一次探索:第一次完整尝试 3D 建模和 PCB 设计。
D-BOT 支持的特性:
- [x] X-Knob 原生全功能支持;
- [x] 手柄遥控控制(蓝牙);
- [x] 无线调参数:
- [x] 基于 SimpleFOCStudio (尝试合入到 upstream 中,但作者太忙一直没时间 review,暂时使用我 fork 的仓库)修改了上位机,通过无线网络连接;
- [x] 在 D-BOT 端通过 WirelessTuning 库,作为胶水层无缝适配 SimpleFOC 的 monitor 库;
- [x] 小智 AI 控制,化身 AI 机器人(狗头;
主要硬件列表:
- 4 块 PCB:主控板 + 驱动板 * 2 + 屏幕板;
- 电池板: 直接使用饭佬开源平衡车的电池板,但不用焊接任何元件;
- MCU: ESP32-S3 WROOM-1U-N16R8;
- 屏幕: 240x240 圆形 LCD GC9A01 (1.28 寸)
- 磁编码器:MT6701CT;
- 3205a 无刷直流电机(无限位);
已经上传到嘉立创开源平台:硬件开源链接
3D 结构的打印件已经上传到 Maker World : D-BOT 3D 模型,总共包含 5 个打印件:
- 车架-3205a_v1.1
- 车轮适配件_v0.2
- 电池卡扣+底座接口_v0.9
- 屏幕架_v0.4
- 支撑件_v0.1
基本环境:
- VScode + PlatformIO
- 下载代码
git clone https://github.com/SmallPond/D-BOT
-
编译 && flash
-
第一次启动需要配置 WiFi,连接 DBOT_xxx 的 WiFi,访问 192.168.4.1 进入网页配置并保存
-
enjoy
- 配置 SimpleFOCStudio基本环境 ;
- 通过串口获取 D-BOT 启动日志打印的 IP 地址;
- 在 SimpleFOCStudio 界面中配置 IP 和端口号(默认为 4242)
| 对象 | 命令 | 示例 |
|---|---|---|
| 直立环 | S | SP0.2——直立环 P 项设置为 0.2 |
| 速度环 | V | VP0.2——速度环 P 项设置为 0.2 |
| 转向环 | T | TP0.2——转向环 P 项设置为 0.2 |
| D-BOT 前后移动闭环控制 | R | RP0.2 |
| D-BOT 转向闭环控制 | B | BP0.2 |
| 机械中值 | X | X-3——机械中值设置为 -3 |
- Super_Balance: 手工饭开源平衡车;本项目的结构和小车平衡控制主要参考此项目
- Stack canary watchpoint triggered 通常是因为 FreeRTOS 的 task 栈设置得太小,适当增大 stack depth 即可解决。
Guru Meditation Error: Core 1 panic'ed (Unhandled debug exception).
Debug exception reason: Stack canary watchpoint triggered (BuzzerThread)
- esp32 debug,打印出错的栈信息
export PATH=$PATH:~/.platformio/packages/toolchain-xtensa-esp32s3/bin
xtensa-esp32s3-elf-addr2line.exe -pfiaC -e .pio/build/esp32-s3-devkitc-1/firmware.elf 0x42007e97- MPU6050 Z 轴(YAW)零漂问题,最好每次都进行陀螺仪的静止校准
mpu.calcGyroOffsets(true);,不然在控制指定角度转动时会不准(yaw 角会不断上涨/下降);
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