摘要
针对微型机器人群组控制对无线传输及多路舵机控制的需求,提出了一种基于STC12C5A60S2及CC2530实现对16路舵机无线群组控制的控制器设计方案,利用轮询机制和脉宽递增方法对多路舵机转角和转速独立控制,并基于Z-STACK协议栈实现自组网、无线传输和远程ISP下载。经实验测试,实现了对含多路舵机的多个微型机器人的无线群组控制。
As wireless data transmission and multi-channel servo controller are required in the group control of microrobots,we propose a design of controller that realizes wireless group control of the 16-channel servo on the basis of STC12C5A60S2 and CC2530. In this design,independent control of the rotation angle and speed of multi-channel servo is achieved by adopting polling and incremental PWM method. In this way,it allows Ad Hoc network,wireless transmission and remote ISP to function based on Z-STACK Protocol Stack. The design is tested through experiments and it makes possible the wireless group control of several micro-robots that contain multi-channel servo.
出处
《电子器件》
CAS
北大核心
2015年第4期798-804,共7页
Chinese Journal of Electron Devices
基金
四川省经济和信息化委员会2012年"两化融合"项目(2012XM037)
关键词
机器人控制器
轮询算法
群组控制
远程升级
robot controller
polling algorithm
wireless group control
remote upgrade
