這是一款直徑 58mm 的麥克納姆輪小車底盤，翠綠的麥輪讓人有一種跑車的感覺，是一款 CP 值蠻高的小車底盤套件。
組裝工具
1. M3 十字螺絲起子。
2. M3 扳手。
3. 尖嘴鉗。
組裝步驟
雖然本組裝說明的馬達並未焊上電源線，但我們強烈建議您在組裝前先焊好馬達電線。
Step1 取出材料包。
Step2 取出壓克力底板、馬達、馬達固定片、螺絲和螺帽。
許多學校在開設自走車課程時，費用通常是首要考量，為了達到降低成本這個需求，經過我多方嘗試，這個小車底盤終於誕生了。
本科普小車所有零組件皆採用市售成品，方便玩家可以自行採購或更換零組件。例如，使用一塊科普常見的洞洞板當作車子底板，3*75*90mm 的尺寸大小，足夠裝載 Arduino 或 ESP系列開發板和其他模組。
組裝步驟
強烈建議在組裝前先焊好馬達電源線。
Step1 取出螺絲2只、墊片4只、尼龍柱2支和滾珠輪，預組備用。
組裝後如下圖
Step3 取出螺絲8只、螺帽8只和固定器2只，將2只TT馬達分別固定到底板上。
固定後如下圖
Step4 取出輪框和胎皮，將胎皮安裝到輪框。
Step5 使用2只自攻螺絲將輪胎固定到馬達上。到此組裝完成。
這俯視視角
其它注意事項
1. 如果您覺得感測器、模組數量太多，單層底板空間不敷使用，可以加購底板和4只M2尼龍柱，這樣就有足夠的空間使用。
2. 底板的孔洞是間距10mm，孔徑是2mm，非常適合通用型科普塑料拼裝組合。
採購資訊
露天(S&R) https://www.ruten.com.tw/item/show?22327145934079
露天(RWG) https://www.ruten.com.tw/item/show?22327145963598
這款全向輪小車底盤是「給氣狼機器人聯盟」設計的，車體底盤採用 3mm 黑色壓克力，外觀質感佳。
本小車底盤採多功能目標設計，下層板可固定 3 只 TT 減速馬達或 370 減速馬達或 520 減速馬達。
本文只是作為暫時的筆記!
想了解 GC9A01 有哪些繪圖指令，可以參考 Adafruit_GC9A01A 的 graphicstest.ino 。
#include "SPI.h"
void setup() {
tft.begin();
}
螢幕屬性
tft.width(); //取得螢幕寬度
tft.height(); //取得螢幕高度
tft.setRotation(uint8_t r); //旋轉螢幕 r=0~3
| tft.invertDisplay(bool i); // 螢幕反色 | |
| tft.setAddrWindow(uint16_t x, uint16_t y, uint16_t w, uint16_t h); |
調色
tft.color565(i, i, i);
顏色定義
| // Color definitions | |
| #define GC9A01A_BLACK 0x0000 ///< 0, 0, 0 | |
| #define GC9A01A_NAVY 0x000F ///< 0, 0, 123 | |
| #define GC9A01A_DARKGREEN 0x03E0 ///< 0, 125, 0 | |
| #define GC9A01A_DARKCYAN 0x03EF ///< 0, 125, 123 | |
| #define GC9A01A_MAROON 0x7800 ///< 123, 0, 0 | |
| #define GC9A01A_PURPLE 0x780F ///< 123, 0, 123 | |
| #define GC9A01A_OLIVE 0x7BE0 ///< 123, 125, 0 | |
| #define GC9A01A_LIGHTGREY 0xC618 ///< 198, 195, 198 | |
| #define GC9A01A_DARKGREY 0x7BEF ///< 123, 125, 123 | |
| #define GC9A01A_BLUE 0x001F ///< 0, 0, 255 | |
| #define GC9A01A_GREEN 0x07E0 ///< 0, 255, 0 | |
| #define GC9A01A_CYAN 0x07FF ///< 0, 255, 255 | |
| #define GC9A01A_RED 0xF800 ///< 255, 0, 0 | |
| #define GC9A01A_MAGENTA 0xF81F ///< 255, 0, 255 | |
| #define GC9A01A_YELLOW 0xFFE0 ///< 255, 255, 0 | |
| #define GC9A01A_WHITE 0xFFFF ///< 255, 255, 255 | |
| #define GC9A01A_ORANGE 0xFD20 ///< 255, 165, 0 | |
| #define GC9A01A_GREENYELLOW 0xAFE5 ///< 173, 255, 41 | |
| #define GC9A01A_PINK 0xFC18 ///< 255, 130, 198 |
#define WHITE 0xFFFF#define BLACK 0x0000 #define BLUE 0x001F #define BRED 0XF81F#define GRED 0XFFE0#define GBLUE 0X07FF#define RED 0xF800#define MAGENTA 0xF81F#define GREEN 0x07E0#define CYAN 0x7FFF#define YELLOW 0xFFE0#define BROWN 0XBC40 //棕色#define BRRED 0XFC07 //棕紅色#define GRAY 0X8430 //灰色#define DARKBLUE 0X01CF //深藍色#define LIGHTBLUE 0X7D7C //淺藍色 #define GRAYBLUE 0X5458 //灰藍色#define LIGHTGREEN 0X841F //淺綠色#define LGRAY 0XC618 //淺灰色(PANNEL),窗體背景色#define LGRAYBLUE 0XA651 //淺灰藍色(中間層顏色)#define LBBLUE 0X2B12 //淺棕藍色(選擇條目的反色)螢幕填色
uint16_t color
tft.fillScreen(GC9A01A_BLACK); yield();
tft.fillScreen(GC9A01A_WHITE); yield();
tft.fillScreen(GC9A01A_RED); yield();
tft.fillScreen(GC9A01A_ORANGE); yield();
tft.fillScreen(GC9A01A_YELLOW); yield();
tft.fillScreen(GC9A01A_GREEN); yield();
tft.fillScreen(GC9A01A_BLUE); yield();
畫矩形
tft.drawRect(x, y, i, i, color);
畫矩形色塊
tft.fillRect(x, y, i, i, color);
畫圓
tft.drawCircle(x, y, radius, color);
畫圓形色塊
tft.fillCircle(x, y, radius, color);
畫三角形
| tft.drawTriangle( | |
| cx , cy - i, // peak | |
| cx - i, cy + i, // bottom left | |
| cx + i, cy + i, // bottom right | |
| tft.color565(i, i, i)); |
畫三角形色塊
| tft.fillTriangle(cx, cy - i, cx - i, cy + i, cx + i, cy + i, | |
| tft.color565(0, i*10, i*10)); | |
| t += micros() - start; | |
| tft.drawTriangle(cx, cy - i, cx - i, cy + i, cx + i, cy + i, | |
| tft.color565(i*10, i*10, 0)); |
畫圓角矩形
tft.drawRoundRect(cx-i2, cy-i2, i, i, i/8, tft.color565(i, 0, 0));
畫圓角矩形色塊
| tft.fillRoundRect(cx-i2, cy-i2, i, i, i/8, tft.color565(0, i, 0)); | |
| yield(); |
#include <SPI.h>
#include "LCD_Driver.h"
#include "GUI_Paint.h"
#include "image.h"
void setup()
{
Config_Init();
LCD_Init();
LCD_SetBacklight(1000);
Paint_NewImage(LCD_WIDTH, LCD_HEIGHT, 0, BLACK);
Paint_Clear(BLACK);
Paint_DrawCircle(120,120, 120, BLUE ,DOT_PIXEL_2X2,DRAW_FILL_EMPTY);
Paint_DrawLine (120, 0, 120, 12,GREEN ,DOT_PIXEL_4X4,LINE_STYLE_SOLID);
Paint_DrawLine (120, 228, 120, 240,GREEN ,DOT_PIXEL_4X4,LINE_STYLE_SOLID);
Paint_DrawLine (0, 120, 12, 120,GREEN ,DOT_PIXEL_4X4,LINE_STYLE_SOLID);
Paint_DrawLine (228, 120, 240, 120,GREEN ,DOT_PIXEL_4X4,LINE_STYLE_SOLID);
Paint_DrawImage(gImage_70X70, 85, 25, 70, 70);
Paint_DrawString_CN(56,140, "微雪电子", &Font24CN,BLACK, WHITE);
Paint_DrawString_EN(123, 123, "WAVESHARE",&Font16, BLACK, GREEN);
Paint_DrawLine (120, 120, 70, 70,YELLOW ,DOT_PIXEL_3X3,LINE_STYLE_SOLID);
Paint_DrawLine (120, 120, 176, 64,BLUE ,DOT_PIXEL_3X3,LINE_STYLE_SOLID);
Paint_DrawLine (120, 120, 120, 210,RED ,DOT_PIXEL_2X2,LINE_STYLE_SOLID);
}
void loop()
{
}
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
The overlay support some optional parameters that allow changes in the default behavior and affects only the LCD display. They are key=value pairs, comma separated in no predefined order, as follow:
dtoverlay=gc9a01,speed=40000000,rotate=0,width=240,height=240,fps=50,debug=0
speed: max spi frequency to be usedrotate: image rotation (in degrees: 0, 90, 180, 270)width: width of the displayheight: height of the displayfps: max fps to be useddebug: debug level to be logged on boot processSince fbcp is making a plain copy from HDMI to LCD, screen resolution may affect the final result. Additional settings can be added on the config.txt in order to adjust the resulting image to your needs. The full set of options can be checked at /boot/overlays/README.
Note that the following settings will be applied both to the HDMI and the LCD.
dtoverlay=gc9a01
hdmi_force_hotplug=1
hdmi_cvt=240 240 60 1 0 0 0
hdmi_group=2
hdmi_mode=87
hdmi_drive=2
display_rotate=2
hdmi_force_hotplug: force HDMI output rather than DVIhdmi_cvt: adjusts de resolution, framerate and more. Format: <width> <height> <framerate> <aspect> <margins> <interlace>hdmi_group: set DMT group (Display Monitor Timings: the standard typically used by monitors)hdmi_mode: set DMT modehdmi_drive: force a HDMI mode rather than DVIdisplay_rotate: rotate screen 180 degreesThe display_rotate setting allows to rotate or flip the screen orientation to fit your needs. The default value is 0, possible values are:
0 no rotation1 rotate 90 degrees clockwise2 rotate 180 degrees clockwise3 rotate 270 degrees clockwise0x10000 horizontal flip0x20000 vertical flipThis setting is a bitmask. So you can both flip and rotate the display at the same time. Example:
0x10001 both do a horizontal flip and rotate 90 degrees clockwise (0x10000 + 1).0x20003 both do a vertical flip and rotate 270 degrees clockwise (0x20000 + 3).