Роботын хүчний болон удирдлагын хэлхээ Алгоритм

M8PWM

M7PWM

M6PWM

M5PWM

M4PWM

M3PWM
1 SLND1

Minb6

Mina6

Minb4

Mina4
Minb5

Mina5

Minb3

Mina3
Minb7

Mina7

Minb8

Mina8
ү үү

GND
2

ULN2003A 1 SLND2
2
1 16 1 SLND3
23 2 15
GND

25 2
R16 R15 R14 R13 R12 R11 R10 R9 R8 R7 R6 3 14
330 330 330 330 330 330 330 330 330 330 330 R5 27 4 13 1 SLND4
330 29 2
5 12
R40 R39 R38 R37 R36 R35
31 6 11
33 1 SLND5
330 330 330 330 330 330 7 10 2
35 8 9
GND

2
1

1
1 SLND6

NC

NC

NC

NC

NC

NC

NC

NC

NC

NC

NC

NC
2
U20 U19 U18 U17 U16 U15 U14 U13 U12 U11 U10 U9 1 SLND7
4N25 4N25 4N25 4N25 4N25 4N25 4N25 4N25 4N25 4N25 4N25 4N25 SLND_POWER 2
2

2
3

3
1

1
ү үү
NC

NC

NC

NC

NC

NC

4
5

6
U28 U27 U26 U25 U24 U23 PWR/SWITCH
4N25 4N25 4N25 4N25 4N25 4N25
SLND_POWER
4

4
5

6
+5V

1
5V(M)
SLND_POWER 2 IN+ OUT+ 3

R48 R47 R46 R45 R44 R43 XT60

Ү ү

5V(M)
10k 10k 10k 10k 10k 10k R32 R31 R30 R29 R28 R27 R26 R25 R24 R23 R22 R21 1
10k 10k 10k 10k 10k 10k 10k 10k 10k 10k 10k 10k 2 1 IN- OUT- 4
LM2596 DC-DC
GND
GND(M)

GND(M)
MOTOR_SWITCH
M7

M6

M5

M4

M3
M8

Ma8

Ma7

Ma6

Ma4
Ma5

Ma3
Mb8

Mb7

Mb6

Mb4
Mb5

Mb3
ө ө
PWR

1
2 IN+ OUT+ 3 5V(M)
GND(M) GND GND(M) GND GND(M) GND
1 Ү ү
2 1 IN- OUT- 4 GND(M)
5V(M) VDD 5V(M) VDD 5V(M) VDD BUZZER1 +5V XT60 LM2596 DC-DC
MOTOR_POWER
1 5V
4 2
Ma7 M1INA Ma5 M1INA Ma3 M1INA GND GND/M
MOTOR_DRIVER_2 MOTOR_DRIVER_3 MOTOR_DRIVER_1
Mb7 M1INB VNH5019A Mb5 M1INB VNH5019A Mb3 M1INB VNH5019A GND GND Ү ү
M7 M1PWM M5 M1PWM M3 M1PWM

M2PWM M8 M2PWM M6 M2PWM M4

C5

SDA1
SCL1
GND
SDA
0.1uf

SCL

RX2
RX1
Ma8 Mb8 Ma6 Mb6 Ma4 Mb4
GND

GND

GND

TX2
TX1
M2INA M2INB M2INA M2INB M2INA M2INB
M2B

M2A

M1B

M1A

M2B

M2A

M1B

M1A

M2B

M2A

M1B

M1A
VIN

VIN

VIN

13
12
11
10
5V

4
8

2
9

7
5
3
GND
C4
0.1uf
Ү ү
2

2
1

1
5V
PWR

PWR

PWR
GND/M

GND/M

GND/M
XT30 XT30 XT30 XT30 XT30 XT30
MOTOR4 MOTOR3 MOTOR6 MOTOR5 MOTOR2 MOTOR1 GND
ATMEGA2560

(RX2) D17

(RX1) D19
(SDA) D20
(SCL) D21
(TX2) D16

(TX1) D18
SDA1
SCL1

D9
D8

D7
D6
D5
D4
D3
D2
GND
D13
D12
D11
D10
5V +5V +5V 5V

PS4 CONTROLLER
22 D22 D23 23
ATMEGA168

ATMEGA328

ATMEGA168

24 D24 D25 25
ENC3A A0 ENC7A A0 ENC5A A0 26 D26 D27 27
ENC3B A1 D8 Mina4 ENC7B A1 D8 Mina6 ENC5B A1 D8 Mina8 28 D28 D29 29
ENC4B A2 D7 Minb4 ENC8B A2 D7 Minb6 ENC6B A2 D7 Minb8 30 D30 D31 31
ENC4A
SDA
A3
A4
D6
D5
M3PWM ENC8A
M4PWM SDA
A3
A4
D6
D5
M5PWM ENC6A
M6PWM SDA
A3
A4
D6
D5
M7PWM
M8PWM
32
34
D32 D33
D34 D35
33 GND1
GND2
Ү ү
35
SCL A5 D4 Mina3 SCL A5 D4 Mina5 SCL A5 D4 Mina7 36 D36 5V 5V
D3 Minb3 D3 Minb5 D3 Minb7 38 D38 GND
40 D40 CS D10
+5V +5V +5V +5V +5V +5V 42 D42 MOSI D11
44 D44 MISO D12
C1 GND C2 GND C3 GND 46 D46 SCK D13
0.1uf 0.1uf 0.1uf 48 D48
MISO D50 D51 MOSI Ү ү
SCK D52 D53 CS
GND GND GND GND GND GND GND Ү ү

GND
GND

CANRX
CANTX
A8
A9
5V
3.3V

A10
A11
DAC0
DAC1
A11
3v3

A10
A12
A13
A14
A15
GND
GND

A8
A9
5V

ө ө

Оролт гаралтын порт Ү ү

Ү ү

I/O1 I/O2 I/O3 I/O4 I/O5 I/O6 I/O7 I/O8 I/O9 I/O10 I/O11 I/O12
3 3 3 3 3 3 3 3 3 3 3 3
GND GND GND GND GND GND GND GND GND GND GND GND
2 2 2 2 2 2 2 2 2 2 2 2
5V 5V 5V 5V 5V 5V 5V 5V 5V 5V 5V 5V
1 1 1 1 1 1 1 1 1 1 1 1
48 46 44 42 40 38 36 34 32 30 28 26

I2C_CN4
ENC1
6
9

ENC6
5V 1 GND 1
GND 1
SCL 2 5V 2
5V 2
SDA 3 A14 3
10
4 A15 4
3 5V
11 4 KEY1 KEY2 KEY3 KEY4 KEY5
Ү ү
GND ENC7 1 3 1 3 1 3 1 3 1 3
ENC2
2 4 2 4 2 4 2 4 2 4
I2C_CN1 GND 1 GND 1
5V 2
5V 2
A12 3
12 3 LED1 LED2 LED3 LED4 LED5
5V 1 13 4 Ү ү
SCL 2
A13 4
SDA 3
4 ENC3 R1_330 R2_330 R3_330 R4_330 R5_330
330 330 330 330 1k
GND 1
5V 2 GND
GND
A10 3
I2C_CN2 A11 4 ODRV_UART1
HDR-F-2.54_1x4 EM1 EM2 EM3 EM4 EM5 EM6
1 ENC4 1
Ү ү
5V 3v3 5V 1 5V 1 5V 1 5V 1 5V 1 5V 1
SCL 2 GND 1 GND 2 ENC3A 2 ENC4A 2 ENC5A 2 ENC6A 2 ENC7A 2 ENC8A 2
SDA 3
5V 2
RX1 3 3 3 3 3 3 3
4
A8 TX1 4 ENC3B 4 ENC4B 4 ENC5B 4 ENC6B 4 ENC7B 4 ENC8B 4
3
A9 4
GND ө ө
ODRV_UART2 GND GND GND GND GND GND
I2C_CN3 ENC5 HDR-F-2.54_1x4
Ү ү
ө ө ө ө

5V 1 GND 1 3v3 1
SCL 2
5V 2 GND 2
SDA 3
2 3 RX2 3
3 4 TX2 4
4

GND
ө ө ШУТИС-ЭХС-IET370
Үүрэг Овог нэр Гарын үсэг Огноо Роботын удирдлагын Зориул Масс Масштаб
Удирдагч Б.Билгүүн хавтангын холболт
Зөвлөх М.Баттулга Роботын ерөнхий 1:1
Шүүмж О.Мандах алгоритм
ЦТС эрхлэгч Б.Бат-Эрдэнэ Хуудас 1 Бүх хуудас 3
ө ө Гүйцэтгэсэн Б.Ганбат
B201050617