Lkaho/Robot-Motion-Control-STM32

A STM32 based robot motion control controller

Robot-Motion-Control-STM32

This is my undergraduate graduation project. The main content of the project is to modify an electric car into a driverless car with four-wheel steering.

1. Main Contribution

• Responsible for the modification of the unmanned chassis, mainly including the 3D modeling and assembly of the rear wheel steering system and braking system.
• Design the software part of the motion control controller based on STM32.

2. Chassis Modification Part

• Rear wheel steering system

  • before modification

    

  • after modification

    • 3D modeling

      

    • Assembling

      

• Brake system

​ Using the cable-pulling scheme and adopting the step motor as the power source to modify the braking system.

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3. STM32 Controller

• Hardware system architecture

  

• Main Module

  • Serial communication : Communicate with on-board computer(see Hardware/STMROS)
  • DAC: Control driving system (see Hardware/DAC)
  • CAN: Control the steering system and collect chassis state(see Hardware/CAN)
  • Stepdriver: Control brake system(see Hardware/STEPDRIVER)
  • RS485: Communicate with the driving motor controller and collect vehicle speed via modbus protocol. (see Hardware/RS485)

• Controller Function Test(Simulation)

  

4. Test