This project pertains to a class design that I originally published on GitHub three years ago. Recently, I observed that both my peers and I might benefit from this small-scale demonstration, prompting me to update it while reflecting on the joy and fulfillment I experienced during its initial development.
Note: This demonstration represents a fundamental project that is straightforward to implement, from this little project, you can get:
- Gain a deeper understanding of OpenMV and STM32, particularly the communication mechanisms that facilitate data exchange between these platforms.
- Know more about control, by tuning the PD control algorithm, develop an intuitive understanding of control theory, such as how a larger Kp value may induce jitter in a two-axis gimbal, thereby affecting system stability.
- Make it! Finally, I would like to say that starting with foundational concepts can foster greater confidence in your abilities. By actively engaging in problem-solving and developing solutions independently, you can enhance your coding skills. I hope this demo inspires you to create your own intelligent small-scale vehicle.
This project requires hardware components, and prior to commencing, you may need to prepare the following hardware:
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An OpenMV camera module (e.g., OpenMV Cam H7) for vision-based target detection and control for two-axes gimbal with sg90 (you can but two-axes gimbal with OpenMV together).
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A microcontroller development board (e.g., STM32F103C8T6 is enough, you can select arundio or others) to serve as the main control unit for the vehicle.
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A chassis kit (contain motor is better, DC motor is ok and you better choose a motor driver like L298N to achieve contorl for motor) for assembling the small-scale tracking vehicle.
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A power supply, such as a rechargeable LiPo battery (e.g., 7.4V, 1000mAh), to power the system.
dupont jumper wires, a breadboard, and other basic electronic components for circuit connections.
You can clone this repo from github or download zip file directly:
git clone https://github.com/Ajun11/The-track-car-based-on-stm32f103-and-oepnmv.gitThe downloaded file have the following structure:
openmv_part\ --- target detection and control for two-axes gimbal
stm32_part\ --- samll vehicle control
|_ Basic_Header\ --- include important header file such as motor and usart header
|_ Libraries\ --- stm32 header file...
|_ project\ --- include the keil proj, you can open it in keil 5
|_ user\main.c --- the main file of runningAfter addressing the software implementation, the next step is to establish the connections between the STM32 and OpenMV modules, with detailed instructions to be provided in the subsequent sections.
STM32 PA2 <---> OpenMV P5
STM32 PA3 <---> OpenMV P4Subsequently, you can program the respective boards by uploading the code: the STM32 can be programmed using the Keil IDE, while the OpenMV module can be programmed via the OpenMV IDE. I think there will be some problem, the best way is understand the principle and slove the problem.