{"id":76160,"date":"2026-02-14T07:49:42","date_gmt":"2026-02-13T23:49:42","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/76160.html"},"modified":"2026-02-14T07:49:42","modified_gmt":"2026-02-13T23:49:42","slug":"%e4%bb%8e-robot-%e5%88%b0-robotex%ef%bc%9a%e8%88%b5%e6%9c%ba%e9%80%9a%e4%bf%a1%e6%8a%97%e5%b9%b2%e6%89%b0%e4%b8%8e%e7%bb%84%e7%bd%91%e6%96%b9%e6%a1%88%e7%9a%84%e6%bc%94%e8%bf%9b","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/76160.html","title":{"rendered":"\u4ece Robot \u5230 RobotEX\uff1a\u8235\u673a\u901a\u4fe1\u6297\u5e72\u6270\u4e0e\u7ec4\u7f51\u65b9\u6848\u7684\u6f14\u8fdb"},"content":{"rendered":"

\u5728\u4eba\u5f62\u683c\u6597\u673a\u5668\u4eba\u4e2d，\u8235\u673a（\u4f3a\u670d\u7535\u673a）\u662f\u5b9e\u73b0\u52a8\u4f5c\u6267\u884c\u7684\u6838\u5fc3\u6267\u884c\u5668\u3002\u65e9\u671f Robot \u91c7\u7528\u201c\u83ca\u82b1\u94fe\u201d\u4e32\u884c\u62d3\u6251\u2014\u2014\u4e3b\u63a7\u901a\u8fc7\u5355\u8def UART \u4f9d\u6b21\u5411\u4e32\u8054\u7684\u8235\u673a\u53d1\u9001\u6307\u4ee4，\u6bcf\u53f0\u8235\u673a\u89e3\u6790\u81ea\u8eab\u5730\u5740\u540e\u8f6c\u53d1\u5269\u4f59\u6570\u636e\u3002\u8fd9\u79cd\u8bbe\u8ba1\u867d\u8282\u7701\u5f15\u811a，\u5374\u57cb\u4e0b\u4e86\u4e25\u91cd\u9690\u60a3：\u5355\u70b9\u6545\u969c\u5373\u53ef\u5bfc\u81f4\u5168\u8eab\u762b\u75ea\u3002\u4f8b\u5982，\u67d0\u8235\u673a\u56e0\u8fc7\u8f7d\u6b7b\u673a，\u5176 RX\/TX \u5f15\u811a\u5361\u6b7b，\u540e\u7eed\u6240\u6709\u8235\u673a\u5c06\u6536\u4e0d\u5230\u6307\u4ee4；\u53c8\u6216\u5728\u9ad8\u9891\u52a8\u4f5c\u4e0b，\u591a\u8def PWM \u4e0e\u4e32\u53e3\u4fe1\u53f7\u76f8\u4e92\u5e72\u6270，\u5f15\u53d1\u4e0a\u534a\u8eab\u5931\u63a7\u3002<\/p>\n

\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898，RobotEX \u91cd\u6784\u4e86\u8235\u673a\u901a\u4fe1\u67b6\u6784，\u6838\u5fc3\u76ee\u6807\u662f：\u9ad8\u53ef\u9760\u6027\u3001\u5f3a\u6297\u5e72\u6270\u3001\u6545\u969c\u9694\u79bb\u3001\u4f4e\u5ef6\u8fdf\u54cd\u5e94\u3002<\/p>\n

\u4e00\u3001\u75db\u70b9\u590d\u76d8：\u521d\u4ee3\u67b6\u6784\u7684\u4e09\u5927\u7f3a\u9677<\/h5>\n
  • \u6545\u969c\u4f20\u64ad：\u4e32\u8054\u7cfb\u7edf\u65e0\u5197\u4f59，\u4efb\u4e00\u8282\u70b9\u5931\u6548\u5373\u5168\u94fe\u4e2d\u65ad；<\/li>\n
  • \u901a\u4fe1\u51b2\u7a81：\u6253\u51fb\u4e8b\u4ef6\u9700\u8235\u673a\u4e3b\u52a8\u4e0a\u62a5（\u5982\u201c\u88ab\u51fb\u4e2d\u201d），\u4f46\u591a\u53f0\u540c\u65f6\u53d1\u9001\u4f1a\u5bfc\u81f4 UART \u51b2\u7a81；<\/li>\n
  • \u65f6\u5e8f\u50f5\u5316：\u4e3b\u63a7\u5fc5\u987b\u4e25\u683c\u6309\u987a\u5e8f\u8f6e\u8be2，\u65e0\u6cd5\u4f18\u5148\u5904\u7406\u9ad8\u4f18\u5148\u7ea7\u4e8b\u4ef6（\u5982\u7d27\u6025\u5236\u52a8）\u3002<\/li>\n
    \u4e8c\u3001\u65b0\u67b6\u6784：\u661f\u578b\u62d3\u6251 + \u4e3b\u52a8\u4e0a\u62a5 + \u786c\u4ef6\u9694\u79bb<\/h5>\n

    RobotEX \u6539\u4e3a\u4e3b\u4ece\u661f\u578b\u7ed3\u6784：<\/p>\n

      \n
    • \u4e3b\u63a7（STM32F4）\u00a0\u72ec\u7acb\u9a71\u52a8\u6bcf\u53f0\u8235\u673a\u7684 TX \u7ebf（\u5171 N \u8def GPIO）；<\/li>\n
    • \u6240\u6709\u8235\u673a\u7684 RX \u7ebf\u4e0d\u76f4\u63a5\u5e76\u8054，\u800c\u662f\u901a\u8fc7\u00a074HC4066 \u6a21\u62df\u5f00\u5173\u63a5\u5165\u4e3b\u63a7\u7684\u5355\u8def UART_RX\u3002<\/li>\n<\/ul>\n

      \u5de5\u4f5c\u903b\u8f91\u5982\u4e0b：<\/p>\n

        \n
      • \u6b63\u5e38\u901a\u4fe1\u65f6，\u4e3b\u63a7\u4f7f\u80fd\u5bf9\u5e94\u8235\u673a\u7684\u7535\u5b50\u5f00\u5173，\u5efa\u7acb\u70b9\u5bf9\u70b9\u901a\u9053；<\/li>\n
      • \u5f53\u67d0\u8235\u673a\u5f02\u5e38（\u5982\u7535\u6d41\u8fc7\u5927\u3001\u901a\u4fe1\u8d85\u65f6），\u4e3b\u63a7\u7acb\u5373\u5173\u95ed\u5176 RX \u5f00\u5173，\u5c06\u5176\u4ece\u603b\u7ebf\u9694\u79bb，\u5176\u4f59\u8235\u673a\u4e0d\u53d7\u5f71\u54cd\u3002<\/li>\n<\/ul>\n

        \u4e3a\u4f55\u4e0d\u7528\u591a UART？
        \nSTM32F4 \u867d\u6709\u591a\u4e2a\u786c\u4ef6 UART，\u4f46\u6570\u91cf\u6709\u9650（\u901a\u5e383\u20134\u4e2a），\u800c\u673a\u5668\u4eba\u81ea\u7531\u5ea6\u5e38\u8fbe17+\u3002\u8f6f\u4ef6\u6a21\u62df UART \u6210\u672c\u9ad8，\u4e14\u96be\u4ee5\u4fdd\u8bc1\u65f6\u5e8f\u3002\u7535\u5b50\u5f00\u5173\u65b9\u6848\u4ee5\u6781\u4f4e\u6210\u672c（<\u00a50.5\/\u8def）\u5b9e\u73b0\u4e86\u201c\u865a\u62df\u591a\u4e32\u53e3\u201d\u3002<\/p>\n

        \u4e09\u3001\u901a\u4fe1\u534f\u8bae\u5347\u7ea7：\u4ece\u8f6e\u8be2\u5230\u4e8b\u4ef6\u9a71\u52a8<\/h5>\n

        \u6211\u4eec\u6452\u5f03\u4e86\u4f4e\u6548\u7684\u201c\u4e3b\u63a7\u8f6e\u8be2\u201d\u6a21\u5f0f，\u91c7\u7528\u00a0\u201c\u4e3b\u52a8\u4e0a\u62a5 + ACK \u786e\u8ba4\u201d\u00a0\u673a\u5236：<\/p>\n

          \n
        • \u6307\u4ee4\u4e0b\u884c：\u4e3b\u63a7\u5e7f\u64ad\u6307\u4ee4\u5e27（\u542b\u76ee\u6807\u8235\u673a ID），\u4ec5\u76ee\u6807\u8235\u673a\u54cd\u5e94；<\/li>\n
        • \u4e8b\u4ef6\u4e0a\u884c：\u5f53\u8235\u673a\u68c0\u6d4b\u5230\u5173\u952e\u4e8b\u4ef6（\u5982\u5835\u8f6c\u3001\u5916\u90e8\u6253\u51fb\u89e6\u53d1\u970d\u5c14\u4f20\u611f\u5668），\u7acb\u5373\u8bf7\u6c42\u53d1\u9001（RTS），\u4e3b\u63a7\u5f00\u653e\u5176 RX \u901a\u9053\u540e，\u8235\u673a\u4e0a\u4f20\u4e8b\u4ef6\u5305；<\/li>\n
        • ACK \u673a\u5236：\u4e3b\u63a7\u6536\u5230\u4e8b\u4ef6\u540e\u56de\u4f20 ACK，\u82e5\u8235\u673a\u672a\u6536\u5230，\u5219\u5728\u4e0b\u6b21\u4e3b\u5faa\u73af\u91cd\u53d1，\u786e\u4fdd\u5173\u952e\u4fe1\u606f\u4e0d\u4e22\u5931\u3002<\/li>\n<\/ul>\n

          \u6b64\u65b9\u6848\u4f7f\u6253\u51fb\u54cd\u5e94\u5ef6\u8fdf\u4ece 50ms \u964d\u81f3 <8ms，\u6ee1\u8db3\u7ade\u6280\u573a\u666f\u7684\u5b9e\u65f6\u6027\u8981\u6c42\u3002<\/p>\n

          \u56db\u3001\u6297\u5e72\u6270\u52a0\u56fa\u63aa\u65bd<\/h5>\n
        • \u4fe1\u53f7\u5b8c\u6574\u6027：\n
            \n
          • TX \u7ebf\u4e32\u8054 22\u03a9 \u7535\u963b，\u6291\u5236\u53cd\u5c04；<\/li>\n
          • RX \u7ebf\u9760\u8fd1\u4e3b\u63a7\u7aef\u52a0 10k\u03a9 \u4e0a\u62c9，\u9632\u6b62\u6d6e\u7a7a\u8bef\u89e6\u53d1\u3002<\/li>\n<\/ul>\n<\/li>\n
          • \u65f6\u5e8f\u95f4\u9699：\n
              \n
            • \u5728\u8fde\u7eed\u6307\u4ee4\u95f4\u63d2\u5165 \u2265200\u03bcs \u7684\u9759\u9ed8\u671f，\u907f\u514d\u524d\u4e00\u5e27\u7ed3\u675f\u6807\u5fd7\u4e0e\u4e0b\u4e00\u5e27\u8d77\u59cb\u4f4d\u7c98\u8fde\u3002<\/li>\n<\/ul>\n<\/li>\n
            • \u7535\u6e90\u53bb\u8026：\n
                \n
              • \u6bcf\u53f0\u8235\u673a\u7535\u6e90\u5165\u53e3\u52a0 100\u03bcF \u7535\u89e3\u7535\u5bb9 + 0.1\u03bcF \u9676\u74f7\u7535\u5bb9，\u6291\u5236\u7535\u673a\u542f\u505c\u9020\u6210\u7684\u7535\u538b\u6bdb\u523a\u5bf9\u901a\u4fe1\u82af\u7247\u7684\u5f71\u54cd\u3002<\/li>\n<\/ul>\n<\/li>\n
                \u4e94\u3001\u5b9e\u6d4b\u6548\u679c\u4e0e\u53ef\u9760\u6027\u9a8c\u8bc1<\/h5>\n

                \u6211\u4eec\u5728 20 \u53f0 RobotEX \u4e0a\u8fdb\u884c\u4e86\u4e3a\u671f 3 \u4e2a\u6708\u7684\u538b\u529b\u6d4b\u8bd5：<\/p>\n

                  \n
                • \u6545\u969c\u9694\u79bb：\u4eba\u4e3a\u77ed\u63a5\u4efb\u610f 3 \u53f0\u8235\u673a\u901a\u4fe1\u7ebf，\u5176\u4f59\u5173\u8282\u4ecd\u53ef\u6b63\u5e38\u8fd0\u52a8；<\/li>\n
                • \u6297\u5e72\u6270：\u5728 2.4GHz Wi-Fi\u3001\u84dd\u7259\u300120 \u53f0\u673a\u5668\u4eba\u540c\u573a\u8fd0\u884c\u7684\u590d\u6742\u7535\u78c1\u73af\u5883\u4e0b，\u901a\u4fe1\u8bef\u7801\u7387 < 0.001%；<\/li>\n
                • \u5bff\u547d\u6d4b\u8bd5：\u8fde\u7eed 10 \u4e07\u6b21\u201c\u51fa\u62f3-\u53d7\u51fb\u201d\u5faa\u73af\u540e，\u901a\u4fe1\u7a33\u5b9a\u6027\u65e0\u8870\u51cf\u3002<\/li>\n<\/ul>\n

                  \u6b64\u5916，\u65b0\u67b6\u6784\u652f\u6301\u52a8\u6001\u8235\u673a\u6620\u5c04\u2014\u2014\u66f4\u6362\u624b\u81c2\u6a21\u5757\u540e，\u4e3b\u63a7\u901a\u8fc7 I\u00b2C \u8bfb\u53d6\u6a21\u5757 EEPROM \u4e2d\u7684\u914d\u7f6e\u8868，\u81ea\u52a8\u9002\u914d\u8235\u673a ID \u4e0e\u529f\u80fd，\u65e0\u9700\u91cd\u65b0\u70e7\u5f55\u56fa\u4ef6\u3002<\/p>\n

                  \u516d\u3001\u603b\u7ed3<\/h5>\n

                  \u4ece\u83ca\u82b1\u94fe\u5230\u661f\u578b\u62d3\u6251，\u4ece\u8f6e\u8be2\u5230\u4e8b\u4ef6\u9a71\u52a8，RobotEX \u7684\u8235\u673a\u901a\u4fe1\u7cfb\u7edf\u5b8c\u6210\u4e86\u4e00\u6b21\u7531\u201c\u80fd\u7528\u201d\u5230\u201c\u53ef\u9760\u3001\u667a\u80fd\u3001\u53ef\u7ef4\u62a4\u201d\u7684\u8dc3\u8fc1\u3002\u5176\u6838\u5fc3\u601d\u60f3\u662f：\u5728\u8d44\u6e90\u53d7\u9650\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d，\u5de7\u5999\u7ed3\u5408\u4f4e\u6210\u672c\u786c\u4ef6（\u7535\u5b50\u5f00\u5173）\u4e0e\u9ad8\u6548\u8f6f\u4ef6\u534f\u8bae（\u4e3b\u52a8\u4e0a\u62a5+ACK），\u5f80\u5f80\u6bd4\u5806\u780c\u9ad8\u6027\u80fd\u82af\u7247\u66f4\u80fd\u89e3\u51b3\u5b9e\u9645\u5de5\u7a0b\u95ee\u9898\u3002\u8fd9\u5957\u67b6\u6784\u4e0d\u4ec5\u63d0\u5347\u4e86\u4ea7\u54c1\u9c81\u68d2\u6027，\u4e5f\u4e3a\u672a\u6765\u5f15\u5165\u529b\u63a7\u3001\u67d4\u987a\u63a7\u5236\u7b49\u9ad8\u7ea7\u529f\u80fd\u5960\u5b9a\u4e86\u901a\u4fe1\u57fa\u7840\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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