目 录
1 绪论 ......................................................................................................................................................1
1.1 本设计的意义及其目的...........................................................................................................1
1.2 割草机在国内外的发展概况...................................................................................................1
1.3 割草机主要技术内容...............................................................................................................2
1.4 新型自动割草机的主要优势...................................................................................................2
2 割草机总体设计方案 ...........................................................................................................................3
2.1 设计原理及方案.......................................................................................................................3
2.2 割草刀具...................................................................................................................................3
2.3 车身独立悬挂...........................................................................................................................6
2.4 刀具升降结构...........................................................................................................................7
3 元器件选型 ...........................................................................................................................................8
3.1 主控芯片选型...........................................................................................................................8
3.2 无线通讯芯片选型...................................................................................................................9
3.3 舵机选型.................................................................................................................................10
3.3.1 舵机的应用.................................................................................................................10
3.3.2 舵机工作原理及选型.................................................................................................11
3.4 编码器电机选型.....................................................................................................................12
3.4.1 霍尔编码编码器的原理.............................................................................................12
3.4.2 直流减速电机的选型.................................................................................................13
3.5 电机驱动.................................................................................................................................14
4 硬件设计及连接 .................................................................................................................................16
4.1 通用 I/O 口引脚分配..............................................................................................................16
4.2 电机过载电路设计.................................................................................................................17
4.3 电路布局.................................................................................................................................17
5 开发环境介绍 .....................................................................................................................................19
5.1 编译环境 Keil .........................................................................................................................19
5.2 STLINK 仿真器......................................................................................................................20
5.3 匿名上位机姿态采集.............................................................................................................21
6 程序底层配置与系统软件设计 .........................................................................................................22
6.1 STM32 芯片底层配置............................................................................................................22
6.1.1 底层代码的意义.........................................................................................................22
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