---
title: 'Project documentation template'
disqus: hackmd
---

Project Title
===

## Table of Contents

[TOC]

## Beginners Guide

If you are a total beginner to this, start here!

1. Visit hackmd.io
2. Click "Sign in"
3. Choose a way to sign in
4. Start writing note!

User story
---

Feature: Guess the word

  # The first example has two steps
  Scenario: Maker starts a game
    When the Maker starts a game
    Then the Maker waits for a Breaker to join

  # The second example has three steps
  Scenario: Breaker joins a game
    Given the Maker has started a game with the word "silky"
    When the Breaker joins the Maker's game
    Then the Breaker must guess a word with 5 characters

> I choose a lazy person to do a hard job. Because a lazy person will find an easy way to do it. [name=Bill Gates]

Feature: Shopping Cart
  As a Shopper
  I want to put items in my shopping cart
  Because I want to manage items before I check out

  Scenario: User adds item to cart
    Given I'm a logged-in User
    When I go to the Item page
    And I click "Add item to cart"
    Then the quantity of items in my cart should go up
    And my subtotal should increment
    And the warehouse inventory should decrement

> Read more about Gherkin here: https://docs.cucumber.io/gherkin/reference/

User flows
---

Alice->Bob: Hello Bob, how are you?
Note right of Bob: Bob thinks
Bob-->Alice: I am good thanks!
Note left of Alice: Alice responds
Alice->Bob: Where have you been?

> Read more about sequence-diagrams here: http://bramp.github.io/js-sequence-diagrams/

Project Timeline
---

gantt
    title 工作時程
    axisFormat  %m/%d

    section 整體
    討論整合       :2022/08/22,2022/08/31
    組裝、配線     :2022/10/3
    測試、調整     :2022/10/18

    section 系統控制組
    腳位配置  :2022/9/10, 2022/9/16 

gantt
    axisFormat  %m/%d
    
    section 整體
    實戰測試、調整  :2022/10/18, 2022/10/30
    影片製作       :2022/11/4,2022/11/15
    
    section 軟體組
    影片剪輯  :2022/11/10, 5d

gantt
    title 工作時程
    axisFormat  %m/%d
    
    section 整體
    討論整合       :2022/08/22,2022/08/31
    組裝、配線     :2022/10/3
    測試、調整     :2022/10/18
    實戰調整  :2022/10/30
    影片製作       :2022/11/4,2022/11/15
    
    section 系統控制組
    腳位配置  :2022/9/10, 2022/9/16 
    
    section 軟體組
    影片剪輯  :2022/11/10, 5d
    

> Read more about mermaid here: http://mermaid-js.github.io/mermaid/

## Appendix and FAQ

:::info
**Find this document incomplete?** Leave a comment!
:::

###### tags: `Templates` `Documentation`

---

[2022東京威力科創機器人大賽](https://officecycu-my.sharepoint.com/:f:/g/personal/10823160_o365st_cycu_edu_tw/EpCOxIM0h0BIingQCv61tOYB1F_bY5e4jfDGAk4_mHT1JA?e=a4EE4J)
[第三屆人工智慧與大數據全國創意競賽](https://docs.google.com/document/d/1zU9faEeNsG4sng-_w3LtpRmCDFdkItji/edit)

---
## 2022/6/5 10.

不用box，取代用板子為基礎。

## 2022/6/7 10.

那就用xbox吧

## 2022/6/23 10.
先把遊戲規則敘述一次，再將所有機構設計和軟體設計整合
在遊戲規則中可再討論原先淘汰的想法，互相比較優缺做整合
分為軟體組與硬體組分別寫內容
下次開會:6/30
7/1交報名表 7/8交計畫書

## 2022/7/3
撰寫主要內容
繳交計劃書延至7/11

## 2022/7/4
精修內容與排版

## 2022/7/6
齁齁齁今天好像要把報名表完成ㄌㄨㄛ
計畫表寫完囉

## 2022/7/25
8/10簡報deadline
8/20到竹科
下次開會:8/3 9:00 PM

計劃書摘要
1. 創作敘述
2. 功能需求
3. 設計概念與佈置
4. 創意與技術
5. 預算規劃
6. 工作時程表

簡報大綱
1. 硬體
2. 電控
3. 軟體
4. 關卡破解及構想

> 當天服裝: 老師詢問
> [time=Mon, Jul 25, 2022 9:33 PM]

## 2022/8/3
分享進度
衣服: 領子、深色(線上，會問問題 8/20)
簡報分配(內容幾分鐘的時間):
- 電控:大約1 min 第一頁所需材料 第二頁詳述 第三頁接角(重點)
- 軟體:大約 1 min 30s 第一部分 ros 1.特色 2.實作方式 3.案例 第二部分 github(action)
- 介紹ROS - 10秒
歷史沿革
特色
- 實作流程 - 30秒
加速交流
多語言開發
使用TCP/IP通訊協定
- 實際案例 - 20秒
- Github Actions - 30s
- 硬體:大約 1 min 30s 第一部分整體結構 第二部分結構構思
- 解題:大約 2 min
- 計劃書內容修改

---

deadline:
- 8/6 9pm 修簡報及加強
- 8/7 9pm 報告初稿及預錄
- 8/8 9pm 正式錄影處理

next 硬體組紀錄

---

## 2022/8/6
1. 簡報完成
2. 討論

簡報大綱
1. 硬體
2. 電控
3. 軟體
4. 關卡破解及構想
5. 小結論
6. 工作時程表 甘特圖

## 2022/8/7
1. 簡報完成(分主題使用)
2. 討論報告分配
3. 給老師審視內容

## 2022/8/8
第一次：硬體組太長 過 4 min 30s (已過總長)
第二次：道關卡破解 7 min 7 s
第三次：關卡破解往後 2 min 50 s
已小修一下段，但還是有做調整！時間會超過太多。

> 軟體組撰寫

---
## 2022/10/16

> 硬體組撰寫
1. 機械手臂初號機完成

2. 底板底稿設計完成

3. 進料進度:40%

> 電控組撰寫
- 研究樹莓派如何連接驅動板到機械手臂

> 軟體組撰寫

因開發板未到，先去洗三塊
OS Ubuntu server 20.04 LTS, and set up ssh, ros system.
已有看式
[raspberry-pi](https://ubuntu.com/tutorials/how-to-install-ubuntu-on-your-raspberry-pi#3-using-advanced-options)

[ros-pwm-pca9685 github](https://github.com/dheera/ros-pwm-pca9685)

先跟硬體組配合，用 arduino 做測試看看可不可以抓東西。

---

## 2022/10/21
> 軟體組

10/18 樹梅剛到
10/20 先洗好三顆 OS
10/21 拿到樹梅開始做自動化安裝測試
結果燒入有問題雙方重燒
有給自動化程式
10/22 yolov2 tiny fps only 0.1, so 考慮加速器

auto install basic program

# /usr/bin/bash

# setting NCHC in Taiwan
sudo sed -i 's/archive.ubuntu.com/free.nchc.org.tw/g' /etc/apt/sources.list
sudo sed -i 's/security.ubuntu.com/free.nchc.org.tw/g' /etc/apt/sources.list
sudo sed -i 's/ports.ubuntu.com/free.nchc.org.tw/g' /etc/apt/sources.list
echo "finished change server"
sleep 1

# update default
sudo apt clean all
sudo apt-get update && sudo apt-get upgrade -y
echo "finished updgrade"
sleep 1

## install desktop
echo "Do you need a desktop version? (If needing it to input 1 number)"
read number
if [ $number == 1 ];then 
    sudo apt install xubuntu-desktop -y
    sudo apt install lubuntu-desktop -y
    echo "finished desktop update"
    sleep 1
fi

#package install
sudo apt-get install -y git tmux neofetch
echo "install git tmux neofetch"
neofetch
sleep 1

# zsh install
echo "Do you need oh-my-zsh? (If needing it to input 1 number)"
read number
if [ $number == 1 ];then
    sudo apt-get install -y zsh
    zsh --version
    cat /etc/shells 
    chsh -s $(which zsh)
    sh -c "$(wget https://raw.github.com/robbyrussell/oh-my-zsh/master/tools/install.sh -O -)"
    sudo apt-get install -y fonts-powerline
    echo "finished zsh install"
    sleep 1
fi

# ROS install
echo "Do you need ROS? (If needing it to input 1 number)"
read number
if [ $number = 1 ]; then
    sh -c "$(curl -fsSL https://raw.githubusercontent.com/Adlink-ROS/ros_menu/master/scripts/setup.sh)"
    sleep 1
fi

sudo reboot

---
## 2022/10/23
> 硬體組撰寫
1. 底板草圖完成 進行軟體繪製
2. 進行第二層規劃

---

## 2022/10/30
> 電控組撰寫

Last Update:2022/11/30

---
使用元件:
1.Arduino uno:DC 5V
2.Jetson nano:DC 4.75V
3.TB6560:DC 10V ~ 35V (建議使用DC 24V)。
~~4.57馬達:DC 24V ~ 36V~~
5.電磁閥:DC 3V~7.2V
6.真空汞:DC 5V~7.2V
7.PCA9685:DC 5V~10V

---
供電使用方案與利用狀況:
* 以下所述之電池以18650為主

(1)、(2)接行動電源
(3)、(4)-------每一組3.7* 4=14.8V-----4* 4=16顆電池
但有無法跑完全程的隱憂，因為電壓還是不夠高
(5)-------1顆電池-----3.7V
(6)-------4顆<font color="#f00">AA電池</font>-----1.5V*4=6V
(7)接Jetson

* 電池剩餘:2顆、電池座:2顆串聯 x1、1顆x1
---
Arduino腳位定義
TB6560腳位定義，<font color="#f00">所有驅動器在通電後不得撥動撥碼開關！</font>
TB6560電流參數設定
[如何將 TB6560 步進電機驅動器與 Arduino 一起使用。](https://mytectutor.com/how-to-use-tb6560-stepper-motor-driver-with-arduino/)
[How to run stepper motor using TB6560 stepper driver(影片示範)](https://www.youtube.com/watch?v=KRoe4_XM884)

Arduino、TB6560、馬達接線示意圖
57馬達電壓參數
電源、TB6560(霸拖把L298N在腦海中替換掉QAQ)、Arduino、Jetson板接線圖
Arduino、Jetson板利用GPIO串接線路圖
鏡頭模組連接Jetson板示意圖
相機排線插入方向(藍色的那邊)，<font color="#f00">++不要++插反</font>
也<font color="#f00">++不要++在通電時插拔排線(熱插拔)</font>
Jetson板腳位定義
PCA9685(步進馬達驅動器)連接Jetson板接線圖
電磁閥、真空汞接線圖
電磁閥、真空汞電壓參數
電磁閥、Arduino接線圖

---

> 軟體組撰寫

10/26 樹梅派跑 yolov5可以但吃力，會死機的問題
yolov5是python為主去訓練，所以以v5訓練模型試試
嘗試借jetson版
10/27 借到jetson版
10/30 study jetson 燒入系統，但沒有網卡所以須購買。

---

> 硬體組撰寫

## 2022/10/30
> 軟體組
pca 9695 code 可嘗試

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();   // Initiates library.

#define SERVOMIN  100  // Minimum pulse length count out of 4096.
#define SERVOMAX  2200 // Maximum pulse length count out of 4096.

int servoNo = 0; // Defines a counter for servos.

void setup() 
{
  Serial.begin(9600);       // Starts serial connecton at 9600 baud rate.
  
  pwm.begin();         // Sends PWM signals.
  pwm.setPWMFreq(60);  // Makes servos run at 60 Hz rate.
  delay(20);
}


void loop(){   
  
  for (int pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) // Drives each servo one at a time first                                                                                                
    pwm.setPWM(servoNo, 0, pulselen);                            // to maximum pulse length then to minimum pulse length.
  delay(300);
  
  for (int pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--)
    pwm.setPWM(servoNo, 0, pulselen);
  delay(300);

  servoNo ++;            // Proceeds to next servo.
  if (servoNo > 3) servoNo = 0;
} 

---

## 2022/11/8

> 硬體組

## 2022/11/17
輪子方向[參考](https://blog.csdn.net/weixin_36815313/article/details/108836458)
rosserial[參考](https://www.twblogs.net/a/5d40f745bd9eee5174232a44#:~:text=rosseria,%E5%8F%96ROS%E7%B3%BB%E7%B5%B1%E6%99%82%E9%96%93)

> 軟體組

#define UPPER_LEFT_CLK 1 // 有脈衝時運轉
#define UPPER_LEFT_CW 2 // 高電壓時逆時針
#define LOWER_LEFT_CLK 3
#define LOWER_LEFT_CW 4 
#define UPPER_RIGHT_CLK 5 // 有脈衝時運轉
#define UPPER_RIGHT_CW 6 // 方向
#define LOWER_RIGHT_CLK 7
#define LOWER_RIGHT_CW 8 
#define CLOCK HIGH
#define ANTI_CLOCK LOW
int Distance = 0; // Record the number of steps we've taken

void forward();

void setup() {

  pinMode(8, OUTPUT);

  pinMode(9, OUTPUT);

  digitalWrite(8, LOW);

  digitalWrite(9, LOW);

}

void loop() {

  digitalWrite(9, HIGH);

  delayMicroseconds(100);

  digitalWrite(9, LOW);

  delayMicroseconds(100);

  Distance = Distance + 1; // record this step // Check to see if we are at the end of our move

  // two rotation for 1/8 bridge and 1 rotation for 1/6 bridge (for this code)

  if (Distance == 3200) { // We are! Reverse direction (invert DIR signal)

    if (digitalRead(8) == LOW) {

      digitalWrite(8, HIGH); }

    else {

      digitalWrite(8, LOW);

  } // Reset our distance back to zero since we're // starting a new move

  Distance = 0; // Now pause for half a second delay(500);

  }

}

void forward()
{
  digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
  digitalWrite( UPPER_LEFT_CW, CLOCK ) ;
  digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
  digitalWrite( LOWER_LEFT_CW, CLOCK ) ;
  digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
  digitalWrite( UPPER_RIGHT_CW, CLOCK) ;
  digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;
  digitalWrite( LOWER_RIGHT_CW, CLOCK) ;
}

11/18
轉動測試

    #define UPPER_LEFT_CLK 3 // 有脈衝時運轉
#define UPPER_LEFT_CW 2// 高電壓時逆時針

#define LOWER_LEFT_CLK 9
#define LOWER_LEFT_CW 8

#define UPPER_RIGHT_CLK 5 // 有脈衝時運轉
#define UPPER_RIGHT_CW 4 // 方向

#define LOWER_RIGHT_CLK 7
#define LOWER_RIGHT_CW 6 

#define CLOCK HIGH
#define ANTI_CLOCK LOW
int Distance = 0; // Record the number of steps we've taken

void forward();

void setup() {

  pinMode(UPPER_LEFT_CLK, OUTPUT);
  pinMode(UPPER_LEFT_CW, OUTPUT);

  pinMode(LOWER_LEFT_CLK, OUTPUT);
  pinMode(LOWER_LEFT_CW, OUTPUT);
  
  pinMode(UPPER_RIGHT_CLK, OUTPUT);
  pinMode(UPPER_RIGHT_CW, OUTPUT);  

  pinMode(LOWER_RIGHT_CLK, OUTPUT);
  pinMode(LOWER_RIGHT_CW, OUTPUT);

  digitalWrite(UPPER_LEFT_CLK, LOW);
  digitalWrite(UPPER_LEFT_CW, LOW);
  
  digitalWrite(UPPER_RIGHT_CLK, LOW);
  digitalWrite(UPPER_RIGHT_CW, LOW);

  digitalWrite(LOWER_LEFT_CLK, LOW);
  digitalWrite(LOWER_LEFT_CW, LOW);

  digitalWrite(LOWER_RIGHT_CLK, LOW);
  digitalWrite(LOWER_RIGHT_CW, LOW);

}

void loop() {

  forward(); 
  delay(1000);
  digitalWrite(UPPER_LEFT_CLK, LOW);
  digitalWrite(UPPER_LEFT_CW, LOW);
  
  digitalWrite(UPPER_RIGHT_CLK, LOW);
  digitalWrite(UPPER_RIGHT_CW, LOW);

  digitalWrite(LOWER_LEFT_CLK, LOW);
  digitalWrite(LOWER_LEFT_CW, LOW);

  digitalWrite(LOWER_RIGHT_CLK, LOW);
  digitalWrite(LOWER_RIGHT_CW, LOW);
}

void forward()
{
  digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
  digitalWrite( UPPER_LEFT_CW, CLOCK ) ;

  digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
  digitalWrite( LOWER_LEFT_CW, CLOCK ) ;

  digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
  digitalWrite( UPPER_RIGHT_CW, CLOCK) ;

  digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;
  digitalWrite( LOWER_RIGHT_CW, CLOCK) ;
}

11/20

#define UPPER_LEFT_CLK 4 // steppin
#define UPPER_LEFT_CW 5// dirpin

#define LOWER_LEFT_CLK 8
#define LOWER_LEFT_CW 9

#define UPPER_RIGHT_CLK 2 
#define UPPER_RIGHT_CW 3 

#define LOWER_RIGHT_CLK 6
#define LOWER_RIGHT_CW 7 

// #define stepsPerRevolution 1600
#define stepsPerRevolution 200
int Distance = 0; // Record the number of steps we've taken

void forward();
void left();
void back();
void right();

void setup() {

  pinMode(UPPER_LEFT_CLK, OUTPUT);
  pinMode(UPPER_LEFT_CW, OUTPUT);

  pinMode(LOWER_LEFT_CLK, OUTPUT);
  pinMode(LOWER_LEFT_CW, OUTPUT);
  
  pinMode(UPPER_RIGHT_CLK, OUTPUT);
  pinMode(UPPER_RIGHT_CW, OUTPUT);  

  pinMode(LOWER_RIGHT_CLK, OUTPUT);
  pinMode(LOWER_RIGHT_CW, OUTPUT);

}

void loop() {

  forward();
  delay(1000);
  // left();
  // delay(1000);
  // back();
  // delay(1000);
  // right();
  // delay(1000);
}

void forward()
{
  int t =240;
  digitalWrite(UPPER_LEFT_CW, HIGH);
  digitalWrite(UPPER_RIGHT_CW, HIGH);
  digitalWrite(LOWER_LEFT_CW, HIGH);
  digitalWrite(LOWER_RIGHT_CW, HIGH);

  digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
  delayMicroseconds(t);
  digitalWrite( UPPER_LEFT_CLK, LOW ) ; 
  delayMicroseconds(t);

  digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
  delayMicroseconds(t);
  digitalWrite( LOWER_LEFT_CLK, LOW ) ;
  delayMicroseconds(t);

  digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
  delayMicroseconds(t);
  digitalWrite( UPPER_RIGHT_CLK, LOW ) ;
  delayMicroseconds(t);

  digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;
  delayMicroseconds(t);
  digitalWrite( LOWER_RIGHT_CLK, LOW ) ;
  delayMicroseconds(t);
}

void left()
{
  int t =500;
  digitalWrite(UPPER_LEFT_CW, LOW);
  digitalWrite(UPPER_RIGHT_CW, HIGH);
  digitalWrite(LOWER_LEFT_CW, HIGH);
  digitalWrite(LOWER_RIGHT_CW, LOW);


  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( UPPER_LEFT_CLK, LOW ) ; 
    delayMicroseconds(t);

    digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( LOWER_LEFT_CLK, LOW ) ;
    delayMicroseconds(t);

    digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( UPPER_RIGHT_CLK, LOW ) ;
    delayMicroseconds(t);

    digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( LOWER_RIGHT_CLK, LOW ) ;
    delayMicroseconds(t);
  }
}

void right()
{
  int t =500;
  digitalWrite(UPPER_LEFT_CW, HIGH);
  digitalWrite(UPPER_RIGHT_CW, LOW);
  digitalWrite(LOWER_LEFT_CW, LOW);
  digitalWrite(LOWER_RIGHT_CW, HIGH);


  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( UPPER_LEFT_CLK, LOW ) ; 
    delayMicroseconds(t);

    digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( LOWER_LEFT_CLK, LOW ) ;
    delayMicroseconds(t);

    digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( UPPER_RIGHT_CLK, LOW ) ;
    delayMicroseconds(t);

    digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( LOWER_RIGHT_CLK, LOW ) ;
    delayMicroseconds(t);
  }
}

void back()
{
  int t =500;
  digitalWrite(UPPER_LEFT_CW, LOW);
  digitalWrite(UPPER_RIGHT_CW, LOW);
  digitalWrite(LOWER_LEFT_CW, LOW);
  digitalWrite(LOWER_RIGHT_CW, LOW);


  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( UPPER_LEFT_CLK, LOW ) ; 
    delayMicroseconds(t);

    digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( LOWER_LEFT_CLK, LOW ) ;
    delayMicroseconds(t);

    digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( UPPER_RIGHT_CLK, LOW ) ;
    delayMicroseconds(t);

    digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;
    delayMicroseconds(t);
    digitalWrite( LOWER_RIGHT_CLK, LOW ) ;
    delayMicroseconds(t);
  }
}

jetson & arduino 連動

#define UPPER_LEFT_CLK 4 // steppin
#define UPPER_LEFT_CW 5// dirpin

#define LOWER_LEFT_CLK 8
#define LOWER_LEFT_CW 9

#define UPPER_RIGHT_CLK 2 
#define UPPER_RIGHT_CW 3 

#define LOWER_RIGHT_CLK 6
#define LOWER_RIGHT_CW 7 

// #define stepsPerRevolution 1600
#define stepsPerRevolution 200
int Distance = 0; // Record the number of steps we've taken
int t = 1000 ; // 600 - 1200
void forward();
void left();
void back();
void right();

void setup() {
  Serial.begin(115200);
  pinMode(UPPER_LEFT_CLK, OUTPUT);
  pinMode(UPPER_LEFT_CW, OUTPUT);

  pinMode(LOWER_LEFT_CLK, OUTPUT);
  pinMode(LOWER_LEFT_CW, OUTPUT);
  
  pinMode(UPPER_RIGHT_CLK, OUTPUT);
  pinMode(UPPER_RIGHT_CW, OUTPUT);  

  pinMode(LOWER_RIGHT_CLK, OUTPUT);
  pinMode(LOWER_RIGHT_CW, OUTPUT);

}

void loop() {

  // char command;
  // if( Serial.available() )
  // {
  //   command = Serial.read();
  //   if( 'w' == command )  forward();
  //   else if( 'a' == command ) left();
  //   else if( 's' == command ) back();
  //   else if( 'd' == command ) right();
  // }
  forward();
}

void forward()
{
  
  digitalWrite(UPPER_LEFT_CW, LOW);
  digitalWrite(UPPER_RIGHT_CW, HIGH);
  digitalWrite(LOWER_LEFT_CW, HIGH);
  digitalWrite(LOWER_RIGHT_CW, LOW);

  digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
  digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
  digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
  digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;

  delayMicroseconds(t);

  digitalWrite( UPPER_LEFT_CLK, LOW ) ; 
  digitalWrite( LOWER_LEFT_CLK, LOW ) ;
  digitalWrite( UPPER_RIGHT_CLK, LOW ) ;
  digitalWrite( LOWER_RIGHT_CLK, LOW ) ;

  delayMicroseconds(t);
}

void left()
{
  digitalWrite(UPPER_LEFT_CW, LOW);
  digitalWrite(UPPER_RIGHT_CW, HIGH);
  digitalWrite(LOWER_LEFT_CW, HIGH);
  digitalWrite(LOWER_RIGHT_CW, LOW);


  digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
  digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
  digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
  digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;

  delayMicroseconds(t);

  digitalWrite( UPPER_LEFT_CLK, LOW ) ; 
  digitalWrite( LOWER_LEFT_CLK, LOW ) ;
  digitalWrite( UPPER_RIGHT_CLK, LOW ) ;
  digitalWrite( LOWER_RIGHT_CLK, LOW ) ;
  
}

void right()
{
  digitalWrite(UPPER_LEFT_CW, HIGH);
  digitalWrite(UPPER_RIGHT_CW, LOW);
  digitalWrite(LOWER_LEFT_CW, LOW);
  digitalWrite(LOWER_RIGHT_CW, HIGH);

  digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
  digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
  digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
  digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;

  delayMicroseconds(t);

  digitalWrite( UPPER_LEFT_CLK, LOW ) ; 
  digitalWrite( LOWER_LEFT_CLK, LOW ) ;
  digitalWrite( UPPER_RIGHT_CLK, LOW ) ;
  digitalWrite( LOWER_RIGHT_CLK, LOW ) ;
}

void back()
{
  digitalWrite(UPPER_LEFT_CW, LOW);
  digitalWrite(UPPER_RIGHT_CW, LOW);
  digitalWrite(LOWER_LEFT_CW, LOW);
  digitalWrite(LOWER_RIGHT_CW, LOW);

  digitalWrite( UPPER_LEFT_CLK, HIGH ) ;
  digitalWrite( LOWER_LEFT_CLK, HIGH ) ;
  digitalWrite( UPPER_RIGHT_CLK, HIGH ) ;
  digitalWrite( LOWER_RIGHT_CLK, HIGH ) ;

  delayMicroseconds(t);

  digitalWrite( UPPER_LEFT_CLK, LOW ) ; 
  digitalWrite( LOWER_LEFT_CLK, LOW ) ;
  digitalWrite( UPPER_RIGHT_CLK, LOW ) ;
  digitalWrite( LOWER_RIGHT_CLK, LOW ) ;
  
}

https://www.796t.com/content/1546502966.html
[jetson nano ubuntu 20.04(可用python3.8)](https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image)
[Install-OpenCV-Jetson-Nano](https://github.com/Qengineering/Install-OpenCV-Jetson-Nano)
[Install OpenCV 4.5 on Jetson Nano](https://qengineering.eu/install-opencv-4.5-on-jetson-nano.html)
https://hackmd.io/@0p3Xnj8xQ66lEl0EHA_2RQ/Skoa_phvB#%E5%AE%89%E8%A3%9D-jetson-inference
https://forums.developer.nvidia.com/t/pytorch-for-jetson/72048
https://qengineering.eu/install-pytorch-on-jetson-nano.html
https://chiachun0818.medium.com/jetson-nano-%E9%87%8D%E6%96%B0%E7%B7%A8%E8%AD%AF-opencv-cuda-a65daf5988ab
https://stackoverflow.com/questions/65631801/illegal-instructioncore-dumped-error-on-jetson-nano
https://hackmd.io/@RhXjjdqWRia5PGZ7tfsfnQ/SJQJ3dMZq
https://cloudbytes.dev/snippets/upgrade-python-to-latest-version-on-ubuntu-linux
https://ithelp.ithome.com.tw/articles/10300518
https://stackoverflow.com/questions/49940813/pip-no-module-named-internal
https://d246810g2000.medium.com/nvidia-jetson-nano-for-jetpack-4-4-01-%E7%92%B0%E5%A2%83%E5%AE%89%E8%A3%9D-fd48d5658a13
https://blog.csdn.net/qq_51401897/article/details/119861877
https://www.reddit.com/r/learnpython/comments/rdxjlh/pip3_broken_attributeerror_module_collections_has/
https://github.com/adafruit/Adafruit_Python_SSD1306