From accf4d26988f1f4e01e04b6bd080a0af5d336e77 Mon Sep 17 00:00:00 2001 From: Sean <1026025056@qq.com> Date: Fri, 26 Feb 2021 19:12:18 +0800 Subject: [PATCH] update lidarBoT info --- docs/en/app/lidarbot.md | 26 +++++++++++++++++++++----- docs/zh_CN/app/lidarbot.md | 21 ++++++++++++++++++--- 2 files changed, 39 insertions(+), 8 deletions(-) diff --git a/docs/en/app/lidarbot.md b/docs/en/app/lidarbot.md index 44a72748..7098487a 100644 --- a/docs/en/app/lidarbot.md +++ b/docs/en/app/lidarbot.md @@ -118,13 +118,29 @@ If you are interest in AGV development, We especially encourage you to modify th ## Connect And Pair -Example note: - If you have no map on the screen of your remote, reconnect it. -Press Button B of the lidarBot until the sound raised and the car will get into Broadcast mode with it's mac address on the screen which will send the lidarBot Mac address to the remote. -And Press Button B for a few second,you will hear the same sound and the Mac address of lidarBot will show on the screen,use down button to select and press select when you choose the right Mac address on the screen. -Check out the lidarBot screen whether it receive the message from the remote,press confirm and you finish the match. +### Control and Display + +where the radar cart and handle have matched, Radar car and handle can send messages to each other through EspNow, radar information of radar car can be displayed to handle, handle can also control the trolley movement through EpNow. + +- Normal control mode: move the handle rocker, the trolley will realize forward backward and steering. + +- Omnidirectional Control Mode: Press and hold the handle A key that is the most left on in the handle screen three ons, and then move the rocker to achieve the right and left sideways, but the front and back direction is the other way around. + +### Connection and Matching + +In the unconnected state or if one party is not connected to the other party, there may be problems with the display or control, and we all need to make a new connection. + +- Radar car hold down the C key without putting down the M5Core power on, wait for the screen to restart the end release C on to enter the broadcast mode, all the slave will receive a signal from the host. + +- In the case of the radar vehicle into broadcast mode, we hold down the handle C key and then press the handle power on, wait for the handle restart complete and then release C on to view the current broadcast host on the screen. We select up and down through the A / C key, then press B to determine the Mac address of the host we want to connect to, The host's Mac address can be accessed from your phone or computer to view nearby Wi-Fi, beginning with lidar followed by the host Mac's address. + +- After confirming the host, the host that is the radar car screen will receive the confirmation signal from the slave, also through the ABC key to select and determine the address of the slave. When the B key is pressed, the communication configuration between the radar vehicle and the handle is completed. The two sides can send messages to each other to realize the display of radar map and control of the handle. + +### Web page display + +radar image After the radar vehicle is started up, it doesn't need to match the radar cart and handle, it can be connected to the Radar Car Wi-Fi, Then visit 192.168.4.1 / map through your mobile phone or computer browser to see the radar image information. ## Example diff --git a/docs/zh_CN/app/lidarbot.md b/docs/zh_CN/app/lidarbot.md index ed9d65ad..ef859787 100644 --- a/docs/zh_CN/app/lidarbot.md +++ b/docs/zh_CN/app/lidarbot.md @@ -115,9 +115,24 @@ 案例程序提示： -当手柄不能控制或者显示地图的时候，需要将雷达车和手柄重新配对一下。雷达车启动之后按住Button B键（中间的按键）不放，直到雷达车声音响起，雷达车进入广播模式，主机的地址回显示到屏幕上。 -手柄启动之后按住Button B(中间的按键)不放，直到手柄声音响起，此时应该接到来自雷达车的广播消息，并且会显示雷达车的Mac地址。如果有多个Mac地址可以通过down键向下选择，如果错过了可以按update键刷新当前操作。选择与雷达车对应的Mac地址后按下select即可确认需要配对的雷达车地址。 -这时候雷达车，会收到手柄的确认信息，手柄的Mac地址并且会显示到雷达车的屏幕上，按下屏幕的confirm即可完成配对。 +### 控制和显示 + +在雷达车和手柄已经匹配的情况下，雷达车和手柄可以通过EspNow互发消息，雷达车的雷达信息可以显示到手柄上，手柄也可以通过EspNow控制小车的移动。 + +- 普通控制模式：移动手柄摇杆，小车将实现前进后退和转向。 +- 全向控制模式：按住手柄A键即手柄屏幕三个按钮中最左边的按钮，再移动摇杆可以实现左右的横移，但是前后的方向是反过来的。 + +### 连接与匹配 + +在未连接状态或者有一方没连接另外一方的情况下，显示或者控制都有可能出现问题，这时候我们都需要做一个重新的连接。 +- 雷达车按住C键不放按一下M5Core的电源键，等待屏幕重启完松开C键即可进入广播模式，所有从机都会收到主机发来的信号。 +- 在雷达车进入广播模式的情况下，我们按住手柄C键不放再按一下手柄的电源键，等待手柄重启完成再松开C键即可在屏幕上查看到当前广播的主机。我们通过A/C键向上向下选择，然后按B键确定想要连接的主机的Mac地址，主机的Mac地址可以通过手机或者电脑查看附近的Wi-Fi，以lidar开头后面紧接着的就是主机的Mac地址。 +- 确认完主机之后，主机即雷达车屏幕将收到从机的确认信号，同样通过ABC键选择和确定从机即手柄的地址。当按下B键确定之后，雷达车和手柄就完成了通信的配置，双方可以互发消息，实现雷达图显示和手柄控制。 + +### 网页显示雷达图像 + +在雷达车启动完成之后，不需要雷达车和手柄完成匹配，便可以通过连接雷达车Wi-Fi，然后通过手机或者电脑浏览器访问192.168.4.1/map看到雷达图像信息。 + ## 案例程序