izilawuli ze-VHDL Motor Speed Speed Nquma inkomba kanye ne-Speed Left kanye nesilawuli sesivinini sokudla
QAPHELA: Leli khasi liyingxenye eyodwa yesakhiwo esikhulu. Sicela uqinisekise ukuthi uqala LAPHA, ukuze uqonde ukuthi okulandelayo kungena kuphi ngaphakathi kwephrojekthi enkulu
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Isivinini semoto kanye nokulawula isiqondiso kungenye yezigaba ezimbili eziyinhloko erobhothini le-photodetector, enye i-photodetector noma i-light detector division. Ngenkathi isigaba se-photodetector sigxile embonweni werobhothi, isivinini semoto kanye nesigaba sokulawula isiqondiso sigxile ekuhambeni kwerobhothi. Isivinini semoto kanye nenqubo yokulawula isiqondiso sedatha enikezwe kusukela kusigaba se-photodetector futhi inikeza okukhiphayo ngokomzimba ngendlela yokunyakaza kwemoto.
Inhloso yalesi sigaba ukulawula isivinini nesiqondiso sakho kokubili kwesokunxele kanye nemoto yesokudla yerobhothi elifuna ukukhanya. Ukuze unqume lawa manani, uzodinga usayizi nendawo yokukhanya okuthwetshulwe ikhamera futhi kwacutshungulwa nge-threshold. Uzodinga futhi isivinini esikaliwe kumotho ngayinye. Kulokhu okokufaka, uzokwazi ukukhipha inani le-PWM (Pulse-Width Modulation) yenjini ngayinye.
Ukufeza lokhu, uzodinga ukwenza lawa mamojula e-VHDL (futhi axhunywe ngezansi):
- Ukulawula
- Isibalo sephutha
- Ukuguqulwa kanambambili
- Ukungabikho komthombo wokukhanya
Ungabheka ikhodi ye-VHDL yalesi sigaba lapha.
Izimpahla
Sincoma ukufaka ikhodi nge-ISE Design Suite 14.7 njengoba ingasetshenziswa futhi ukuhlola ikhodi ku-VHDL. Nokho, ukuze ulayishe ikhodi ku-BASYS 3, uzodinga ukufaka i-Vivado (ver. 2015.4 noma 2016.4) futhi ubhale umkhawulo ngesandiso se-.xdc.
I-VHDL Motor Speed Speed Control: Nquma inkomba kanye nesivinini, isilawuli sejubane lesobunxele nesokudla: Ikhasi 1
ISINYATHELO SOMYALELO
Isinyathelo 1: Ukulawula
Ukuze siqonde indlela yokulawula ukuziphatha kwerobhothi elifuna ukukhanya, sizochaza ukuziphatha okufiswayo kwerobhothi lapho libona umthombo wokukhanya. Lokhu kuziphatha kuzolawulwa ngokuya ngokuma nosayizi womthombo wokukhanya.
I-algorithm esetshenzisiwe ifana nesilawuli serobhothi se-RC, esine-lever eyodwa engajikiswa kwesokunxele noma kwesokudla, kanye nenye i-lever engajikiswa iye phambili noma emuva.
Ukuze ufune ukukhanya, ufuna leli robhothi lihambe emgqeni oqondile uma indawo yomthombo wokukhanya iphambi kwerobhothi. Ukuze wenze lokho, ufuna isivinini esifanayo kuzo zombili izinjini kwesokunxele nakwesokudla. Uma ukukhanya kutholakala ohlangothini lwesobunxele lwerobhothi, ufuna injini yesokudla ihambe ngokushesha kunenjini engakwesokunxele ukuze irobhothi lijike liye kwesokunxele liya ekukhanyeni. Ngokuphambene, uma ukukhanya kutholakala kwesokudla serobhothi, ufuna injini yesokunxele ihambe ngokushesha kunenjini engakwesokudla ukuze irobhothi likwazi ukujikela kwesokudla liye ekukhanyeni. Lokhu kufana neleva yesokunxele yesilawuli se-RC, lapho ungakwazi ukulawula ukuthi uyafuna yini ukuhambisa irobhothi kwesokunxele, kwesokudla, noma ngokuqondile.
Bese, ufuna irobhothi liye phambili uma umthombo wokukhanya ukude (umthombo wokukhanya omncane), noma uye emuva uma umthombo wokukhanya otholiwe useduze kakhulu (umthombo wokukhanya omkhulu). Futhi ufuna ukuthi lapho irobhothi liqhele kakhulu emthonjeni wokukhanya, lapho irobhothi lihamba ngokushesha. Lokhu kufana neleva engakwesokudla yesilawuli se-RC, lapho ungakwazi ukulawula ukuthi ufuna ukuya phambili noma emuva, nokuthi ufuna ihambe ngokushesha kangakanani.
Ungathola ifomula yezibalo yejubane lenjini ngayinye, bese sikhetha ibanga lejubane eliphakathi kuka -255 kuya ku-255. Inani elingalungile lisho ukuthi injini izobuyela emuva, kuyilapho inani elihle lisho ukuthi injini izophendukela phambili.
Leyo yi-algorithm eyisisekelo yokuhamba kwaleli robhothi. Ukuze ufunde kabanzi ngale mojula, chofoza lapha.
Isinyathelo sesi-2: Ukubala Kwephutha
Njengoba usuvele unesivinini somgomo kanye nesiqondiso samamotho, ufuna futhi ukucabangela isivinini esilinganisiwe kanye nokuqondisa kwamamotho. Uma isifinyelele umgomo wejubane, sifuna injini ihambe ngomfutho wayo kuphela. Uma ingakakwenzi, sifuna ukwengeza isivinini esengeziwe enjinini. Kuthiyori yokulawula, lokhu kwaziwa njengesistimu yokulawula impendulo evaliwe.
Ukuze ufunde kabanzi ngale mojula, chofoza lapha.
Isinyathelo sesi-3: Ukuguqulwa kanambambili
Kusukela ezibalweni ezedlule, usuvele usazi isenzo esidingekayo kumotho ngayinye. Nokho, izibalo zenziwa kusetshenziswa kanambambili esayiniwe. Inhloso yale mojula ukuguqula la manani asayiniwe abe inani elingafundwa ijeneretha ye-PWM, okuyisiqondiso (ngokuhamba kwewashi noma ngokuphambene newashi) kanye nesivinini (esiqala phakathi kuka-0 kuya ku-255). Futhi, njengoba impendulo evela kumotho ikalwa nge- kanambambili engasayiniwe, enye imojuli iyadingeka ukuze kuguqulwe amanani angasayiniwe (isiqondiso nesivinini) abe inani elisayiniwe elingabalwa ngemojula yokubala iphutha. Ukuze ufunde kabanzi ngale mojula, chofoza lapha.
Isinyathelo sesi-4: Ukungabikho Komthombo Wokukhanya
Wenze irobhothi elihambayo liyofuna ukukhanya lapho ukukhanya kutholwa irobhothi. Kodwa kwenzekani lapho irobhothi lingakuboni ukukhanya? Inhloso yale mojula ukusho ukuthi yini okufanele yenziwe uma isimo esinjalo sikhona.
Indlela elula eya kanye nomthombo wokukhanya ongawufuna iwukuba irobhothi lijikeleze endaweni yalo. Ngemva kokuzungezisa isethi yenombolo yamasekhondi, uma irobhothi lingakawutholi umthombo wokukhanya, ufuna irobhothi liyeke ukunyakaza, ukuze longe amandla. Ngemva kwenye inombolo emisiwe yamasekhondi, irobhothi kufanele lijikeleze endaweni futhi ukuze lifune ukukhanya. Ukuze ufunde kabanzi ngale mojula, chofoza lapha.
Isinyathelo sesi-5: Indlela Esebenza ngayo
Ungabheka isithombe esingenhla ukuze uthole le ncazelo. Njengoba kushiwo ekuqaleni kwalokhu okufundiswayo, uzodinga okokufaka "usayizi" kanye "nesikhundla" esivela ku-threshold Division. Ukuqinisekisa ukuthi lokhu okokufaka bekuvumelekile (ngokwesiboneloample, uma uthola usayizi = 0, usayizi unguziro ngempela ngenxa yokuthi ikhamera ayikuboni ukukhanya, futhi hhayi ngoba ikhamera yayisaqala) uzodinga futhi uhlobo oluthile lwesikhombisi, esilubiza ngokuthi “KULUNGILE”. Le datha izocutshungulwa isilawuli (Ctrl. vhd) ukuze kunqunywe isivinini segoli semoto ngayinye (amabhithi angu-9, asayiniwe).
Ukuze uthole okukhiphayo okuzinzile kumotho, ufuna ukusebenzisa impendulo kusistimu yeluphu evaliwe. Lokhu kudinga okokufaka”indlela” kanye “nejubane” lemoto ngayinye ukusuka esigabeni sokulinganisa isivinini semoto. Njengoba ufuna ukufaka lokhu okokufaka ezibalweni zakho, kuzodingeka uguqule lawa manani angasayiniwe abe unambambili osayiniwe okungu-9-bit. Lokhu kwenziwa ngokungasayiniwe kusiguquli esisayiniwe kanambambili (US2S.vhd).
Okwenziwa ukubalwa kwephutha (iphutha. vhd) ukususa isivinini esilinganisiwe ukusuka kujubane lomgomo ukuze kunqunywe isenzo senjini ngayinye. Lokhu kusho ukuthi uma zombili zinenani elifanayo, ukususa kuba ziro futhi injini izohamba kuphela ngomfutho wayo. Ungakwazi futhi ukwengeza isici sokuphindaphinda ukuze irobhothi lifinyelele isivinini somgomo ngokushesha.
Njengoba isilawuli semoto sidinga isivinini nesiqondiso semoto ngayinye, kufanele uhumushe amanani asayiniwe wesenzo abe ngamavelu amabili ahlukene angabhalisiwe: isivinini (ibhithi elingu-1) kanye nesiqondiso (amabhithi ayi-8). Lokhu kwenziwa i-converter kanambambili engasayiniwe ukuze ingasayiniwe (S2US.vhd), futhi izoba okokufaka esigabeni sokulawula izinjini.
Siphinde sengeza imojula ukuze sinqume ukuthi yini okufanele uyenze uma ukukhanya kungatholakali (asikho isibali sokukhanya. Bhd). Njengoba le mojula ngokuyisisekelo iyikhawunta, izobala ukuthi irobhothi lidinga isikhathi esingakanani ukuzungezisa noma ukuhlala endaweni. Lokhu kuzoqinisekisa ukuthi irobhothi “libona” indawo yalo kunokuba livele libone okuphambi kwalo, futhi lilondoloze amandla ebhethri uma kungekho mthombo wokukhanya otholakala ngempela.
Isinyathelo sesi-6: Hlanganisa i- Files
Ukuhlanganisa i files, udinga ukuxhuma amasignali kusuka kumojula ngayinye. Ukuze wenze lokho, kufanele wenze imojuli entsha yezinga eliphezulu file. Faka okokufaka nokuphumayo kwamamojula adlule njengezingxenye, engeza amasiginali okuxhumana futhi unikeze imbobo ngayinye kumapheya ahambisanayo. Ungabheka ukuxhumana emfanekisweni ongenhla, bese ubheka ikhodi lapha.
Isinyathelo sesi-7: Yihlole
Ngemuva kokuthi usuqedile ngayo yonke ikhodi, udinga ukwazi ukuthi ingabe ikhodi yakho iyasebenza yini ngaphambi kokuthi uyilayishe ebhodini, ikakhulukazi njengoba izingxenye zekhodi zingenziwa abantu abahlukene. Lokhu kudinga ibhentshi lokuhlola, lapho uzofaka khona amanani e-dummy futhi ubone ukuthi ikhodi iziphatha ngendlela esifuna iziphathe ngayo. Ungakwazi ukuphumula uqale ngokuhlola imojuli ngayinye, futhi uma zonke zisebenza kahle, ungahlola imojuli yezinga eliphezulu.
Isinyathelo sesi-8: Yizame ku-Hardware
Ngemuva kokuthi ikhodi yakho isihloliwe kukhompuyutha yakho, ungahlola ikhodi ku-hardware yangempela. Kufanele wenze umkhawulo file ku-Vivado (.xdc file ye-BASYS 3) ukuze ulawule ukuthi yikuphi okokufaka nokuphumayo okuya kuziphi izimbobo.
ICEBISO ELIBALULEKILE: Sifunde kanzima ukuthi izingxenye zikagesi zingase zibe nenani eliphezulu lamanje noma ivolumutages. Qiniseka ukuthi ubhekisela kudatha yedatha yamanani. Ku-PMOD HB5, qiniseka ukuthi usetha ivolumutage isuka emthonjeni wamandla angu-12 volts (njengoba lena kuyi-voltage yenjini), kanye ne-current ibe incane njengoba kudingeka ukuze injini ihambe.
Isinyathelo 9: Hlanganisa Nezinye Izingxenye
Uma izinyathelo zangaphambilini zibe yimpumelelo, hlanganisa ikhodi namanye amaqembu ukuze ikhodi yokugcina ilayishwe irobhothi. Khona-ke, voila! Wenze ngempumelelo irobhothi elifuna ukukhanya.
Isinyathelo 10: Abanikeli
Kusukela kwesokunxele kuya kwesokudla:
- U-Antonius Gregorius Deaven Rivaldi
- Felix Wiguna
- Nicholas Sanjaya
- Richard Medyanto
Kuhle kakhulu: I-VHDL Motor Speed Speed Control: Nquma inkomba kanye nesivinini, isilawuli sejubane lesobunxele nesokudla: Ikhasi 6
Ngiyabonga ngokuphindaviewngi! Le phrojekthi empeleni iyingxenye eyodwa kuphela yephrojekthi yekilasi (Irobhothi Elifuna Ukukhanya elinebhodi le-BASYS 3 nekhamera ye-OV7670), ngakho-ke ngizofaka isixhumanisi ekilasini elifundiswayo maduze!
Kuhle: Ngibheke ngabomvu ukubona konke kuhlanganiswe.
Amadokhumenti / Izinsiza
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izilawuli ze-VHDL Motor Speed Speed Nquma inkomba kanye ne-Speed Left kanye nesilawuli sesivinini sokudla [pdf] Iziyalezo I-VHDL Motor Speed Speed Control Nquma inkomba kanye nesilawuli sejubane lesokunxele nesokudla, i-VHDL Motor Speed, Control Nquma inkomba kanye neSpeed Left kanye nesilawuli sejubane lakwesokudla. |
