The Completed Wrangler looks like:
Joystick Mode:
Use the joystick located on the left hand side of the horse to control the direction of the Wrangler.
Sound Mode:
Make any sound would drive the Wrangler forward, at the same time, wave the whip and hit the horse once.
System diagram: Components list: Component Name Quantity car chassis 1 servo motor 1 DC motor 2 motor driver 1 joystick 1 sound sensor 1 distance/motion sensor 1 voltage switch 1 Development Attached below is the proposed idea of Wrangler(which is a bit different from the final deliverable). The proposed model is cute and interesting. We were thinking using a motion sensor APDS9960 to control the Wrangler to move in different directions.
1. Problem 1: Servo motor Problem: the starting, ending angle of servo motor are not precise. The rotation rate of servo motor is not stable. It frequently clogs when not placed horizontally. Solution: implement an additional servo motor driver voltage level shifter breakout board that takes in a GPIO PWM and outputs a higher- voltage-protected PWM wave that feeds to the servo motor. With separate power supply and reworked PWM wave GPIO output, the behaviour is now stable.
Method of dealing with multi-file C project based on embedded systems. Use of Cmake tool to configure and compile files involving multiple libraries. Real-world embedded system debugging including both hardware and software sections. Implement hardware-based circuits with software control.
PIO was used for the LED(mode indicator) and to drive the APDS9960 distance/motion sensor. The general steps we programmed the PIO state machine are: Determine which PIO instance to use(out of 2) PIO pio = pio0; PIO pio = pio1; Assign instructions into instruction memory with sufficient space uint offset = pio_add_program(pio, &program_name_here) Find an available state machine uint sm = pio_claim_unused_sm(pio, true); some_kind_of_program_init(pio, sm, offset, PICO_DEFAULT_LED_PIN); Up to this point, state machine is ready and running.
Yu Feng https://github.com/skyfall88888 Thea Yu https://github.com/Thea-E