《2024 DigiKey 汽车应用创意挑战赛》避障车提交

北方.

一、项目名称：

避障巡线车

二、项目概述：

本系统是基于双核NXP-MCXN947为主控芯片的智能巡线车，采用超声波传感器捕捉周围障碍物信息，ADI-TMC5272系列驱动步进电机，实现位置感知，通过MKR-1010进行驱动控制。同时采用MCXN947的AI功能识别周围人的存在，发现时及时停止。

三、作品实物图

正面采用超声波传感器和摄像头视觉识别

连接在移动车体内的布置

采用的FRDM-MCXN947开发板

配套的步进电机

配置的皮带轮和连接器

四、演示视频

视频压缩见附件

Video.zip (1.28 MB, 下载次数: 0)

2025-1-15 12:02 上传

点击文件名下载附件

五、项目文档

5.1 使用的硬件

FRDM-MCXN947 开发板

12V双极步进电机及皮带轮套件

11.7V电池

MKR WIFI 1010 开发板

TMC5272 步进电机驱动板

HCSR-04 超声波距离传感器

OV2640摄像头

5.2 使用的软件

Arduino IDE

MCUXpresso IDE

TMCL-IDE for TMC5272

5.3 硬件连接

5.4 软件流程图

5.5 Aruduino代码和视觉识别代码见附件

避障车.zip (14.66 MB, 下载次数: 0)

2025-1-15 11:54 上传

点击文件名下载附件

其中arduino代码如下

1. /*******************************************************************************
   
2. * Copyright © 2023 Analog Devices Inc. All Rights Reserved.
   
3. * This software is proprietary to Analog Devices, Inc. and its licensors.
   
4. *******************************************************************************/
   
5. 
   
6. #include "Arduino.h"
   
7. #include <60ghzbreathheart.h>
   
8. #include <SPI.h>
   
9. #include <afstandssensor.h>
   
10. #include <Servo.h>
    
11. 
    
12. extern "C" {
    
13. #include "TMC5272_HW_Abstraction.h"
    
14. #include "TMC5272.h"
    
15. #include "TMC5272_Simple_Rotation.h"
    
16. }
    
17. 
    
18. /*
    
19. * Arduino Pins   Eval Board Pins
    
20. * 51 MOSI        32 SPI1_SDI
    
21. * 50 MISO        33 SPI1_SDO
    
22. * 52 SCK         31 SPI1_SCK
    
23. * 53 SS          30 SPI1_CSN
    
24. * 14 USART3_TX   22 UART_RX
    
25. * 15 USART3_RX   21 UART_TX
    
26. * GND            23 CLK16 -> use internal
    
27. * 23 DIO         19 nSleep
    
28. * GND            2 GND
    
29. * +5V            5 +5V_USB
    
30. * 27 iRefR2      35 IREF_R2
    
31. * 29 iRefR3      36 IRREF_R3
    
32. * 31 uartMode    20 USEL
    
33. */
    
34. 
    
35. //AfstandsSensor afstandssensor(7, 6);  
    
36. AfstandsSensor afstandssensor1(A2, A3);
    
37. AfstandsSensor afstandssensor2(A4, A5);  
    
38. 
    
39. BreathHeart_60GHz radar = BreathHeart_60GHz(&Serial1);
    
40. Servo directservo;
    
41. 
    
42. #define AVGVELOCITY  0x00002710
    
43. #define SLOWVELOCITY 0x00001000
    
44. #define STOPVELOCITY 0x00000000
    
45. 
    
46. #define LEFTDIRECT   15
    
47. #define RIGHTDIRECT -15
    
48. 
    
49. #define IC_ID 0
    
50. static TMC5272BusType activeBus = IC_BUS_SPI;
    
51. static uint8_t nodeAddress = 0;
    
52. 
    
53. const uint8_t tmcCRCTable_Poly7Reflected[256] = {
    
54.     0x00, 0x91, 0xE3, 0x72, 0x07, 0x96, 0xE4, 0x75, 0x0E, 0x9F, 0xED, 0x7C, 0x09, 0x98, 0xEA, 0x7B,
    
55.     0x1C, 0x8D, 0xFF, 0x6E, 0x1B, 0x8A, 0xF8, 0x69, 0x12, 0x83, 0xF1, 0x60, 0x15, 0x84, 0xF6, 0x67,
    
56.     0x38, 0xA9, 0xDB, 0x4A, 0x3F, 0xAE, 0xDC, 0x4D, 0x36, 0xA7, 0xD5, 0x44, 0x31, 0xA0, 0xD2, 0x43,
    
57.     0x24, 0xB5, 0xC7, 0x56, 0x23, 0xB2, 0xC0, 0x51, 0x2A, 0xBB, 0xC9, 0x58, 0x2D, 0xBC, 0xCE, 0x5F,
    
58.     0x70, 0xE1, 0x93, 0x02, 0x77, 0xE6, 0x94, 0x05, 0x7E, 0xEF, 0x9D, 0x0C, 0x79, 0xE8, 0x9A, 0x0B,
    
59.     0x6C, 0xFD, 0x8F, 0x1E, 0x6B, 0xFA, 0x88, 0x19, 0x62, 0xF3, 0x81, 0x10, 0x65, 0xF4, 0x86, 0x17,
    
60.     0x48, 0xD9, 0xAB, 0x3A, 0x4F, 0xDE, 0xAC, 0x3D, 0x46, 0xD7, 0xA5, 0x34, 0x41, 0xD0, 0xA2, 0x33,
    
61.     0x54, 0xC5, 0xB7, 0x26, 0x53, 0xC2, 0xB0, 0x21, 0x5A, 0xCB, 0xB9, 0x28, 0x5D, 0xCC, 0xBE, 0x2F,
    
62.     0xE0, 0x71, 0x03, 0x92, 0xE7, 0x76, 0x04, 0x95, 0xEE, 0x7F, 0x0D, 0x9C, 0xE9, 0x78, 0x0A, 0x9B,
    
63.     0xFC, 0x6D, 0x1F, 0x8E, 0xFB, 0x6A, 0x18, 0x89, 0xF2, 0x63, 0x11, 0x80, 0xF5, 0x64, 0x16, 0x87,
    
64.     0xD8, 0x49, 0x3B, 0xAA, 0xDF, 0x4E, 0x3C, 0xAD, 0xD6, 0x47, 0x35, 0xA4, 0xD1, 0x40, 0x32, 0xA3,
    
65.     0xC4, 0x55, 0x27, 0xB6, 0xC3, 0x52, 0x20, 0xB1, 0xCA, 0x5B, 0x29, 0xB8, 0xCD, 0x5C, 0x2E, 0xBF,
    
66.     0x90, 0x01, 0x73, 0xE2, 0x97, 0x06, 0x74, 0xE5, 0x9E, 0x0F, 0x7D, 0xEC, 0x99, 0x08, 0x7A, 0xEB,
    
67.     0x8C, 0x1D, 0x6F, 0xFE, 0x8B, 0x1A, 0x68, 0xF9, 0x82, 0x13, 0x61, 0xF0, 0x85, 0x14, 0x66, 0xF7,
    
68.     0xA8, 0x39, 0x4B, 0xDA, 0xAF, 0x3E, 0x4C, 0xDD, 0xA6, 0x37, 0x45, 0xD4, 0xA1, 0x30, 0x42, 0xD3,
    
69.     0xB4, 0x25, 0x57, 0xC6, 0xB3, 0x22, 0x50, 0xC1, 0xBA, 0x2B, 0x59, 0xC8, 0xBD, 0x2C, 0x5E, 0xCF,
    
70. };
    
71. 
    
72. int pos = 0;
    
73. //int nSleep = 23;
    
74. //int iRefR2 = 27;
    
75. //int iRefR3 = 29;
    
76. //int uartMode = 31;
    
77. int nSleep = 6;
    
78. int iRefR2 = 7;
    
79. int iRefR3 = 7;
    
80. int uartMode = 6;
    
81. 
    
82. float leftSonic  = 0;
    
83. float rightSonic = 0;
    
84. float humanDist  = 0;
    
85. int leftVelocity = 0;
    
86. int rightVelocity= 0;
    
87. int Velocity= 0;
    
88. 
    
89. uint8_t tmc5272_getNodeAddress(uint16_t icID) {
    
90.   return nodeAddress;
    
91. }
    
92. 
    
93. TMC5272BusType tmc5272_getBusType(uint16_t icID) {
    
94.   return activeBus;
    
95. }
    
96. 
    
97. void tmc5272_readWriteSPI(uint16_t icID, uint8_t *data, size_t dataLength) {
    
98.   digitalWrite(PIN_SPI_SS, LOW);
    
99.   delayMicroseconds(10);
    
100. 
     
101.   for (uint32_t i = 0; i < dataLength; i++) {
     
102.     data[i] = SPI.transfer(data[i]);
     
103.     Serial.println(data[i]);
     
104.   }
     
105. 
     
106.   delayMicroseconds(10);
     
107.   digitalWrite(PIN_SPI_SS, HIGH);
     
108. }
     
109. 
     
110. void radarRead(void)
     
111. {
     
112.   
     
113.   radar.HumanExis_Func();           //Human existence information output
     
114.   if(radar.sensor_report != 0x00){
     
115.     switch(radar.sensor_report){
     
116.       case NOONE:
     
117.         Serial.println("Nobody here.");
     
118.         Serial.println("----------------------------");
     
119.         break;
     
120.       case SOMEONE:
     
121.         Serial.println("Someone is here.");
     
122.         Serial.println("----------------------------");
     
123.         break;
     
124.       case NONEPSE:
     
125.         Serial.println("No human activity messages.");
     
126.         Serial.println("----------------------------");
     
127.         break;
     
128.       case STATION:
     
129.         Serial.println("Someone stop");
     
130.         Serial.println("----------------------------");
     
131.         break;
     
132.       case MOVE:
     
133.         Serial.println("Someone moving");
     
134.         Serial.println("----------------------------");
     
135.         break;
     
136.       case BODYVAL:
     
137.         Serial.print("The parameters of human body signs are: ");
     
138.         Serial.println(radar.bodysign_val, DEC);
     
139.         Serial.println("----------------------------");
     
140.         break;
     
141.       case DISVAL:
     
142.         Serial.print("The sensor judges the distance to the human body to be: ");
     
143.         Serial.print(radar.distance, DEC);
     
144.         Serial.println(" m");
     
145.         Serial.println("----------------------------");
     
146.         break;
     
147.       case DIREVAL:
     
148.         Serial.print("The sensor judges the orientation data with the human body as -- x: ");
     
149.         Serial.print(radar.Dir_x);
     
150.         Serial.print(" m, y: ");
     
151.         Serial.print(radar.Dir_y);
     
152.         Serial.print(" m, z: ");
     
153.         Serial.print(radar.Dir_z);
     
154.         Serial.println(" m");
     
155.         Serial.println("----------------------------");
     
156.         break;
     
157.     }
     
158.   }
     
159. }
     
160. 
     
161. void randomRoving(void){
     
162.   leftSonic  = afstandssensor1.afstandCM();
     
163.   rightSonic = afstandssensor2.afstandCM();
     
164.   Velocity = SLOWVELOCITY;  
     
165. 
     
166.   if (leftSonic+ rightSonic < 10 ){
     
167.     leftVelocity  = STOPVELOCITY;
     
168.     rightVelocity = STOPVELOCITY;
     
169.     Velocity = AVGVELOCITY;
     
170.     pos=0;
     
171.     //directservo.write(pos);
     
172.   } // Stop rover
     
173. 
     
174.    /****************** Quick Reaction
     
175.   if (leftSonic < 20 and  rightSonic < 20){
     
176.     leftVelocity  = AVGVELOCITY;
     
177.     rightVelocity = STOPVELOCITY;  
     
178.     Velocity = SLOWVELOCITY;  
     
179.     pos=0;
     
180.     //directservo.write(pos);
     
181.   } // Turn around rover
     
182.   **********************/
     
183. 
     
184.     if (leftSonic > 20 and  rightSonic < 20){
     
185.     leftVelocity  = STOPVELOCITY;
     
186.     rightVelocity = SLOWVELOCITY;
     
187.     Velocity = SLOWVELOCITY;  
     
188.     pos=LEFTDIRECT;
     
189.     //directservo.write(pos);
     
190.   } // Turn  rover left
     
191. 
     
192.     if (leftSonic < 20 and  rightSonic > 20){
     
193.     leftVelocity  = SLOWVELOCITY;
     
194.     rightVelocity = STOPVELOCITY;
     
195.     Velocity = SLOWVELOCITY;  
     
196.     pos=RIGHTDIRECT;
     
197.     //directservo.write(pos);
     
198.   } // Turn  rover right
     
199. 
     
200.   directservo.write(pos);
     
201.   delay(1000);  
     
202.   tmc5272_rotateMotor(IC_ID, 0, Velocity);
     
203.   //tmc5272_rotateMotor(IC_ID, 1, rightVelocity);
     
204. 
     
205. }
     
206. 
     
207. void humanFollowing(void){
     
208.   float radarDirection= 0;
     
209.   leftSonic  = afstandssensor1.afstandCM();
     
210.   rightSonic = afstandssensor2.afstandCM();
     
211.   radar.HumanExis_Func();           //Human existence information output
     
212.   if(radar.sensor_report != 0x00){
     
213.     switch(radar.sensor_report){
     
214.       case NOONE:
     
215.         humanDist=0;      
     
216.         break;
     
217.       case DISVAL:
     
218.         Serial.print("The sensor judges the distance to the human body to be: ");
     
219.         Serial.print(radar.distance, DEC);        
     
220.         humanDist=radar.distance;     
     
221.         break;      
     
222.         case DIREVAL:
     
223.         Serial.print("The sensor judges the orientation data with the human body as -- x: ");
     
224.         Serial.print(radar.Dir_x);
     
225.         Serial.print(" m, y: ");
     
226.         Serial.print(radar.Dir_y);
     
227.         Serial.print(" m, z: ");
     
228.         Serial.print(radar.Dir_z);
     
229.         Serial.println(" m");
     
230.         Serial.println("----------------------------");
     
231.         radarDirection= radar.Dir_y;
     
232.         break;
     
233.     }
     
234.   }
     
235.   if (leftSonic+ rightSonic < 10 ){
     
236.     leftVelocity  = STOPVELOCITY;
     
237.     rightVelocity = STOPVELOCITY;
     
238.   } // Stop rover
     
239. 
     
240.   if (leftSonic < 20 and  rightSonic < 20){
     
241.     leftVelocity  = AVGVELOCITY;
     
242.     rightVelocity = STOPVELOCITY;
     
243.   } // Turn around rover
     
244. 
     
245.     if (leftSonic > 20 and  rightSonic < 20){
     
246.     leftVelocity  = STOPVELOCITY;
     
247.     rightVelocity = SLOWVELOCITY;
     
248.   } // Turn  rover left
     
249. 
     
250.     if (leftSonic < 20 and  rightSonic > 20){
     
251.     leftVelocity  = SLOWVELOCITY;
     
252.     rightVelocity = STOPVELOCITY;
     
253.   } // Turn  rover right
     
254. 
     
255.   if (leftSonic > 20 and  rightSonic > 20){   
     
256.     leftVelocity  = AVGVELOCITY;
     
257.     rightVelocity = AVGVELOCITY;
     
258.     if (radarDirection > 0.5 ){
     
259.       leftVelocity = leftVelocity + SLOWVELOCITY;
     
260.     }
     
261.     if (radarDirection < - 0.5 ){
     
262.       rightVelocity = rightVelocity + SLOWVELOCITY;
     
263.     }
     
264.   } // Turn  rover right
     
265. 
     
266.   tmc5272_rotateMotor(IC_ID, 0, Velocity);
     
267.   tmc5272_rotateMotor(IC_ID, 1, rightVelocity);
     
268.   delay(1000);
     
269.   
     
270. }
     
271. 
     
272. void setup() {
     
273.   Serial.begin(115200);
     
274.   
     
275.   Serial1.begin(115200);
     
276. 
     
277.   // put your setup code here, to run once:
     
278.   pinMode(PIN_SPI_SS, OUTPUT);
     
279.   pinMode(nSleep, OUTPUT);
     
280.   pinMode(iRefR2, OUTPUT);
     
281.   pinMode(iRefR3, OUTPUT);
     
282.   pinMode(uartMode, OUTPUT);
     
283. 
     
284.   digitalWrite(PIN_SPI_SS, HIGH);
     
285.   digitalWrite(nSleep, LOW); // Disabling standby
     
286.   digitalWrite(iRefR2, LOW);
     
287.   digitalWrite(iRefR3, LOW);
     
288. 
     
289.   if (activeBus == IC_BUS_SPI) {
     
290.     digitalWrite(uartMode, LOW);
     
291. 
     
292.     SPI.begin();
     
293.     SPI.beginTransaction(SPISettings(500000, MSBFIRST, SPI_MODE3));
     
294.   } else if (activeBus == IC_BUS_UART) {
     
295.     digitalWrite(uartMode, HIGH);
     
296.     //Serial3.begin(115200);
     
297.     pinMode(PIN_SPI_MOSI, OUTPUT);
     
298.     pinMode(PIN_SPI_SCK, OUTPUT);
     
299.     digitalWrite(PIN_SPI_MOSI, LOW);
     
300.     digitalWrite(PIN_SPI_SS, LOW);
     
301.     digitalWrite(PIN_SPI_SCK, LOW);
     
302.   }
     
303. 
     
304.   pinMode(2, INPUT_PULLUP); //Get Human Detection from MCXN947
     
305.   directservo.attach(3);
     
306.   delay(10);
     
307. 
     
308.   //digitalWrite(iRefR2, HIGH);
     
309.   //digitalWrite(iRefR3, HIGH);
     
310.   Serial.println(afstandssensor1.afstandCM());
     
311.   Serial.println(afstandssensor2.afstandCM());
     
312. 
     
313.   initAllMotors(IC_ID);
     
314.   tmc5272_rotateMotor(IC_ID, 0, AVGVELOCITY);
     
315.   //tmc5272_rotateMotor(IC_ID, 1, AVGVELOCITY);
     
316. }
     
317. 
     
318. void loop() {
     
319.   int32_t value = tmc5272_readRegister(IC_ID, TMC5272_VMAX(0));
     
320.   Serial.print("Received Data: ");  Serial.println(value);
     
321.   delay(200);
     
322.   randomRoving();
     
323.   //humanFollowing();
     
324.   //STOP if HUMAN detected
     
325.   if ( digitalRead(2)==HIGH ) {
     
326.     tmc5272_rotateMotor(IC_ID, 0, 0x00000000);
     
327.   }
     
328. 
     
329.   
     
330. }
     

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5.6 示范运行效果见视频。编译通过截图