DELTA_PLC

说明：  一个很通用的按键扫描程序，可用于单片机控制中(A very common key scanner can be used in the SCM)

1单片机 控制直流电机转速 PID算法+C语言程序+Proteus仿真 采用PID控制算法控制电机转速，使得电机实际转速与设定转速保持一致。(1 MCU control DC motor speed PID algorithm+C language program+Proteus simulation using PID control algorithm to control motor speed, so that the actual motor speed and the set speed consistent.)

走马灯，包括原理图和源程序，功能齐全，运用单片机开发的代码(Lantern, including schematics and source, fully functional, use microcontroller development code)

步进电机是将电脉冲信号转变为角位移或线位移的开环控制电机，是现代数字程序控制系统中的主要执行元件，应用极为广泛。。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度，称为“步距角”，它的旋转是以固定的角度一步一步运行的。可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。(Stepper motor is an open loop control motor which transforms electrical pulse signal into angular displacement or linear displacement. It is the main executive element in modern digital control system, and is widely applied. In the case of non overloaded, the motor speed and stop position depends only on the pulse frequency and pulse number, regardless of load changes, when the stepper driver receives a pulse signal, it drives stepper motor to set the direction of rotation of a fixed angle, called "step", it is the rotation of the fixed point of the operation step by step. We can control the angular displacement by controlling the number of pulses, so as to achieve the goal of accurate positioning. At the same time, we can control the speed and acceleration of motor rotation by controlling the pulse frequency, so as to achieve the purpose of speed regulation.)

基于STM32的16位DAC8811驱动程序，亲测可用(STM32-based 16-bit DAC8811 driver, pro-test available)

环境vs2010，kinect for wondows sdk v1.8 MFC 编写的显示人体骨骼，串口发送数据控制机械臂(Environment vs2010, kinect for wondows sdk v1.8 MFC write the display of human bones, serial transmit data control arm)

说明：  基于飞思卡尔DG128的方波，适合学生学习(Based on Freescale DG128 square wave, suitable for students)

DIYMP3，能智能播放，很好的运用了STM32系统相关知识，花费了我将近半年的努力，基本上包含了STM32所有功能的应用。(DIYMP3, play to intelligence, very good use of the STM32 system related knowledge, it took me about half effort, basically contains all STM32 function application.)

基于单目相机和激光测距仪, 文章提出从一幅图像中识别出非合作目标物体上的矩形面,并提取出 4 个顶点坐标的特征提取方法,为位姿的测量提供必要的信息 提出以激光点为参考, 距离激光点最近的 4 条边 界为矩形面边界的判定准则,并根据激光点到直线的垂足和边界端点约束排除干扰线段 该方法能有效地判 定出矩形面且顶点定位准确,在空间机器人视觉伺服控制半物理仿真系统上得到了验证。(An approach to identi fying the rectangular plane of the object w i thout markers and extracting i t s ape- xes which are needed for pose measurement from an image is proposed in this paper. A cri terion is put forw ard that the edges w hich have the minimum distances around the laser point are regarded as the edges of the rec- tangular plane, and the interferent ial lines are eliminated according to the pedal between the laser point and the edge and two endpoints of the edge. The validity of the method is verified by experiments performed on a sem- i physical simulation system for visua- l serving cont rol of space robot s.)

超声波测距，测量精度为1cm，可以使机器人安全避障。(Ultrasonic distance measurement accuracy of 1cm, can make the robot obstacle avoidance safety.)