k230 color line patrol

This tutorial is a comprehensive experiment combining multiple peripherals. You can first understand a single peripheral and then conduct this experiment.

1. Software-Hardware

• STM32F103CubeIDE

• STM32 robot development board

k230 module: external

• Type-C data cable or ST-Link

Download or simulate the development board

2. Brief principle

1. Hardware schematic

2. Physical connection diagram

Motor wiring

K230 wiring (Note: The wiring in the figure below is for position reference only. We are equipped with K230 dual-head PH2.0 4Pin all-black wire, with fool-proof design, no need to worry about wiring problems)

3. Control principle

• Program flow chart

Control principle:

PID control

PID control is a commonly used closed-loop control algorithm that minimizes the error between the actual output and the expected output of the system by continuously adjusting the output of the controller.

Communication protocol:

When k230 recognizes the color track, it will send a data frame through the serial port in the following format

MCU part:

Receive the data sent by k230 through the serial port and process each byte of the data. Extract valid data from the data frame content and store it in the array. Then perform PID processing on the array data, and the MCU uses the processed data to drive the motor to move along the track.

3. Main functions

Function: APP_IRR_PID_Init

Function: APP_K230_PID_Calc

Function: wheel_Ctrl

For the underlying driver, you can refer to [Chapter 3: Advanced Timer Tutorial] and [Chapter 4: Motor Control Tutorial]
For the application layer, you can read the source code in the project file by yourself

4. Partial code analysis

• yb_protocol.c

​x
void Pto_Data_Parse_K230(uint8_t *data_buf, uint8_t num)
{
uint8_t pto_head = data_buf[0];
uint8_t pto_tail = data_buf[num-1];
if (!(pto_head == PTO_HEAD && pto_tail == PTO_TAIL)) {
return;
}

uint8_t data_index = 1;
uint8_t field_index[PTO_BUF_LEN_MAX1] = {0};
int i = 0;

// Parse comma separator
for (i = 1; i < num-1; i++) {
if (data_buf[i] == ',') {
data_buf[i] = 0;
field_index[data_index] = i;
data_index++;
}
}

// Handle pure string without comma Road sign recognition
if (data_index == 1) {
uint8_t len = num - 2;
memcpy(lubiao, (char*)data_buf+1, len);
lubiao[len] = '\0'; // Make sure the string ends with '\0'
}
else { // Process multi-field data
for (i = 0; i < data_index; i++) {
uint8_t start = field_index[i] + 1;
uint8_t len;

if (i == data_index - 1) {
// Last field, length is calculated before the end mark
len = (num - 1) - start;
} else {
// Middle field, length is the next delimiter position minus the current start position
len = field_index[i + 1] - start;
}

if (i == 6 && data_index == 7) {
memcpy(msg, (char*)data_buf + start, len);
msg[len] = '\0'; // Add string terminator
}
else if (i == 2 && data_index == 3) {
memcpy(game, (char*)data_buf + start, len);
game[len] = '\0'; // Add string terminator
}
else {
values1[i] = Pto_Char_To_Int((char*)data_buf + start);
}
}

// Protocol length verification
uint8_t pto_len = values1[0];
if (pto_len != num) {
printf("pto_len error:%d , data_len:%d\n", pto_len, num);
return;
}
pto_id = values1[1];
}
int x = values1[2];
int y = values1[3];
int w = values1[4];
int h = values1[5];
// int degress = values[7];
/* Open when debugging
// printf("dmcode:x:%d, y:%d, w:%d, h:%d,\n", x, y, w, h);
// printf("msg:%s\n", game);
// // printf("game:%d\n", pto_id
// Debug output
// printf("msg:%s\n", msg);
*/
}

5. Experimental phenomenon

After successfully downloading the program, we need to experiment in an environment with relatively stable light. (Because the color will be affected by the light, if the tracked color is not collected, you need to press the K230 reset button to re-collect)

Put the track color under the k230 lens to learn. After learning, press the k1 button on the expansion board, and the car will patrol the track.

 K230 color tracking
K230 QR code command