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JumperT16でDonkeyCarを操作する。
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Masanori Miyamoto
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第1回 AIロボットカー シンポジウム @柏の葉での技術プレゼン資料です。
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JumperT16でDonkeyCarを操作する。
1.
プロポを使ってDonkey Carを操作してみよう! PixHawkを使った自動運転
2.
プロポを使ってDonkeyCarを操作してみよう! + やろうと思ったきっかけ 1.おじさんなのでジョイコンになれていない (良い教師データが作れない) 2.仕事柄プロポを使う機会が多い 3.最近JumperT16を買った。
3.
JumperT16 Jumperという中華メーカーのすごくコスパの高いプロポ。 4.3インチのフルカラー液晶が付き。
当然ですが日本の法律に完全合致する技適認証済。 同じような性能の日本製のプロポはフタバ電子製の『16SZ』 値段は¥89,000( T/Rセット(R7008SB付)ぐらい。 マルチプロトコルに対応している。(Frsky, S.bus , Hubsan etc.) ファームウェアがOpenTX
4.
OpenTX OpenTXはドローンやローバーなどを操縦するために使用す るプロポを動作させるための、オープンソースファームウェア Futaba
等のメーカー製送信機に搭載されたファームウェアに 較べると、非常に高性能でかつ自由度が高いという特徴。
5.
opentx companion USBでプロポをパソコンに接続でき設定や設定ファイルのバックアップができる。 OpenTX OpenTX Companion
6.
JumperT16 とDonkey Carの受信機をバインド +
7.
JumperT16 とDonkey Carの受信機をバインド MDLボタンを押す。
8.
MODEL SETUP画面に遷移 JumperT16 とDonkeyCarの受信機をバインド
9.
JumperT16 とDonkeyCarの受信機をバインド
10.
Bindを選択 このボタンをクリックするとBindモードになる JumperT16 とDonkey Carの受信機をバインド
11.
Linkボタンを押しなが受信機の電源を入れる。 バインドが完了するとLEDが点滅から点灯に変わる JumperT16 とDonkey Carの受信機をバインド
12.
F710エミュレータ作成 HIDに対応しているArduino Microを使用 このあたりはAkiraさんのこちらのページを参考にさせてもらいました。m(_ _
)m https://note.mu/gc_akira/n/nbbdc9137699a
13.
F710エミュレータ作成 電源(5V) CH2-A0 CH1-A1
14.
F710エミュレータ作成 電源ケーブルはこんな感じ これGNDです。
15.
F710エミュレータ作成
16.
F710エミュレータ作成
17.
F710エミュレータ作成
18.
F710エミュレータ作成
19.
左右のスティックを入れ替える 左がステアリング、右がスロットル 左がスロットル、右がステアリング ステアリング ステアリング スロットル
スロットル
20.
左右のスティックを入れ替える myconfig.pyに以下を指定しないとmanage.pyが落ちてしまう。 CONTROLLER_TYPE='F710‘ manage.pyの1162行目 これで左ステック上下でスロットル self.axis_trigger_map = { 'right_stick_vert'
: self.set_steering, 'left_stick_horz' : self.set_throttle, 'dpad_leftright' : self.on_axis_dpad_LR, 'dpad_up_down' : self.on_axis_dpad_UD, } 松浦さんがQiitaで公開して下さった修正方法 self.axis_trigger_map = { 'right_stick_horz' : self.set_steering, 'left_stick_vert' : self.set_throttle, } myconfig.pyの修正 manage.py.pyの修正
21.
左右のスティックを入れ替える ただ、右スロットル左がステアリングでOKだが、右でconstant_throttleコマンドが実行されてしまう。 とりあえず対処療法として1147行目をコメントアウト。 self.button_down_trigger_map = { 'start':
self.toggle_mode, 'B': self.toggle_manual_recording, 'Y': self.erase_last_N_records, 'A': self.emergency_stop, # 'back': self.toggle_constant_throttle, "R1" : self.chaos_monkey_on_right, "L1" : self.chaos_monkey_on_left, } (
22.
スロットルのエクスポネンシャル調整 あくまでも私感ですが、うまく自動走行させるにはスムーズなスロットルコントロールで 教師データを作成する必要があると感じたのでスロットルがマイルドに反応するように調 整しました。 ■調整前の動画です。 https://youtu.be/8tO1p7xxsTw
23.
■こっちが調整後 https://youtu.be/Ti-si1mEa1c スロットルのエクスポネンシャル調整
24.
ご清聴ありがとうございました。
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