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# System prepended metadata

title: '[En-Huei''s Repository：Prototype Practice] Week4：'

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# [En-Huei's Repository：Prototype Practice] Week4：
> last update： [time=Sun, Oct 1, 2023 1:27 PM]
:::info
:bulb: This is the root page of En-Huei's course-taking in NTU Prototype Practice (NTU DS 5202), greetings！
:::  
> [course website](https://hackmd.io/@accomdemy/HJHny1ntn?fbclid=IwAR0uB-EyVc-1P7buX-8dc_FPLLvMqglfE-qAjTh3q4i-RIW5vW0n7rBrH4w)  
> [course slides](https://drive.google.com/drive/folders/1-cq5PQdRCdqZnpHY3pbeYFGUYU-AKXeT?usp=drive_link)

[TOC]  
* Cross Week HyperLinks：
    * [Week1](https://hackmd.io/AvKCP5bcQO6sEwtX7-rTUQ?both#En-Huei%E2%80%99s-Repository%EF%BC%9APrototype-Practice-Week1%EF%BC%9AIntroduction)
    * [Week2](https://hackmd.io/@HCI-Lab/HJxzcTHCn)
    * [Week3](https://hackmd.io/@HCI-Lab/SyzdcpBCn)
    * [Week4](https://hackmd.io/@HCI-Lab/rkFNi6rR2)
    * [Week5](https://hackmd.io/@HCI-Lab/r1hBoarRn)
    * [Week6](https://hackmd.io/@HCI-Lab/HyaLjTHAh)
    * [Week7](https://hackmd.io/@HCI-Lab/BJCvoaHC3)
    * [Week8](https://hackmd.io/@HCI-Lab/H12OsTrA3)
    * [Week9](https://hackmd.io/@HCI-Lab/BkTYopSAh)
    * [Week10](https://hackmd.io/@HCI-Lab/BkysjTS03)
    * [Week11](https://hackmd.io/@HCI-Lab/HklnsarAn)
    * [Week12](https://hackmd.io/@HCI-Lab/HJ6hsaBAn)
    * [Week13](https://hackmd.io/@HCI-Lab/r1jpiTrAh)
    * [Week14](https://hackmd.io/@HCI-Lab/Sk2CjaHR2)
    * [Week15](https://hackmd.io/@HCI-Lab/SJsynTHA3)
    * [Week16](https://hackmd.io/@HCI-Lab/ByiLh6S0n)

## :pencil:Notes：

- 依照上周擬定的施作流程：![](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2F6fe662de-cd0d-4c9d-9b35-7eea0ade7a51%2Fb64ddad0-32b9-4dbe-8700-a9c1beb4b257%2FPP_Midterm_ProposalPrinciple.jpg?table=block&id=c87555ba-e21b-425c-b552-b3eea5ba15f7&spaceId=6fe662de-cd0d-4c9d-9b35-7eea0ade7a51&width=1970&userId=1b99bc9b-cd7e-44d1-b2bb-e645f450f574&cache=v2)，總共有Stage1~4：驅動、前擋碰撞器印製、後加工、Arduino控制四部曲。
- 在一開始Stage1驅動部分就遇上大問題，車上的馬達直接灌電也不會動，看來當初挑的這台生鏽老爺車真的壞得太徹底，而且仔細觀察內部的齒輪箱太過複雜，除了四輪前進模式外還有前輪迴轉、變速等，考慮期中只是要單向動起來的話不如直接自己外加動力源
- 因此實作上Stage1從原本使用玩具車內部馬達改成外加18650電池驅動兩台MG996R伺服機，並且因為需要控制的關係直接啟用原本不一定要做的Stage4使用Arduino UNO雙邊控制；這邊也是受到了上次有同學提到想讓車子後輪不同動搖擺前進的啟發
- Stage2跟3維持原計畫使用3D列印印製，只是考慮到機台列印範圍的限制和不想要印出支撐材，將整個前擋碰撞器切分成左右兩邊印製，後續在預留好的槽內塞入鐵釘即完成。
:::spoiler 18650電池跟MG996R伺服馬達
![](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2F6fe662de-cd0d-4c9d-9b35-7eea0ade7a51%2F94fcb927-11e4-4e8f-a0c4-b2a2b8bf98c2%2FMotor.jpg?table=block&id=3d5283b4-311b-42e0-8f41-637b2c120004&spaceId=6fe662de-cd0d-4c9d-9b35-7eea0ade7a51&width=1970&userId=1b99bc9b-cd7e-44d1-b2bb-e645f450f574&cache=v2)
:::
:::spoiler 前擋碰撞器、加上鐵釘
![](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2F6fe662de-cd0d-4c9d-9b35-7eea0ade7a51%2F5585f62b-4415-4671-b357-6e4717e7368d%2Fcollider_(1).jpg?table=block&id=2267cfa9-5252-4acf-a98b-13fc029a6a0f&spaceId=6fe662de-cd0d-4c9d-9b35-7eea0ade7a51&width=1970&userId=1b99bc9b-cd7e-44d1-b2bb-e645f450f574&cache=v2)
![](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2F6fe662de-cd0d-4c9d-9b35-7eea0ade7a51%2Fd13a2245-884e-4e8d-b229-067e1d03321b%2Fcollider_(2).jpg?table=block&id=b2cb8513-37c2-43e5-9ebe-d6109bb841ee&spaceId=6fe662de-cd0d-4c9d-9b35-7eea0ade7a51&width=1970&userId=1b99bc9b-cd7e-44d1-b2bb-e645f450f574&cache=v2)
:::
:::spoiler 為了在上期中擂台前能留下裝置最後一面在測試木板上拍的照
- ![](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2F6fe662de-cd0d-4c9d-9b35-7eea0ade7a51%2F40faad1d-687f-4e86-b3e2-c79179d1d55d%2FPP_Mid_(2).jpg?table=block&id=22375d15-3bf9-4bec-aa73-7fbe9d68e9ea&spaceId=6fe662de-cd0d-4c9d-9b35-7eea0ade7a51&width=1970&userId=1b99bc9b-cd7e-44d1-b2bb-e645f450f574&cache=v2)
- ![](https://www.notion.so/image/https%3A%2F%2Fprod-files-secure.s3.us-west-2.amazonaws.com%2F6fe662de-cd0d-4c9d-9b35-7eea0ade7a51%2F12aebcb9-3860-4586-8b98-5706dfa00725%2FPP_Mid_(1).jpg?table=block&id=7401eaa9-cc9a-4074-9fb5-6569421687c1&spaceId=6fe662de-cd0d-4c9d-9b35-7eea0ade7a51&width=1970&userId=1b99bc9b-cd7e-44d1-b2bb-e645f450f574&cache=v2)
:::
- 在使用Arduin控制360度速度型伺服馬達時查的一些電路構造跟程式碼：
    - [MG996R](https://hugheschung.blogspot.com/2017/05/mg996r-360.html)
    - [SG90](https://gsyan888.blogspot.com/2014/12/diy-towerpro-sg90-servo-360.html)
    - [Arduino Reference](https://www.arduino.cc/reference/en/)

## :mountain:Challenges：

- 要做出能動的部件相對容易，但要讓整體依照自己設想的模式去運動就很不盡人意
- 特別是當玩具本體的尺寸細節都沒有數位模型可以參考的時候，沒辦法事前在3D建模軟體內就進行組裝模擬，就會有一些部件配合的細節考慮不周，例如印製的前檔板跟車頭固定不起來
- 測試上很多功能都沒達成，例如前擋板跟車體可能會分離、驅動可能會原地打滑、塞入的釘子沒辦法有效插進木板等
- 過去做東西的目標都是不要壞，這次就讓目標變成怎樣華麗地被破壞吧(讓車子在舞台上拖著內臟前進)
- 廢材機器人取名為：  
<<***前進突刺--披著四輪外殼的匍匐***>>

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## :phone:Contact Informations：
> Feel free to reach me out for insteresting things~
:::spoiler :house: Location
> En-Huei Wu  
> HCI Lab, Department of Computer Science and Information Engineering (Dertian Hall)  
> Room. 336, No. 170, Sec. 2, Xinhai Road, Taipei, 10617 Taiwan (R.O.C)  
> National Taiwan University  
> No. 1, Sec. 4, Roosevelt Road, Taipei, 10617 Taiwan (R.O.C)
:::


- :mailbox: slime52ray@gmail.com (persona mailbox)
- :mailbox: r12922105@ntu.edu.tw (school mailbox)