Multi-Machine ROS Topic Communication
Two Ubuntu systems (such as a desktop PC and a robot), connected via Ethernet cable, sharing ROS nodes.
Robotics
105 posts
Getting Started with Apple Vision Pro Development
This article documents the complete process for setting up an Apple Vision Pro development environment, covering physical-device debugging with Xcode, Unity + PolySpatial configuration, Play to Device streaming, app packaging, and basic concepts such as visionOS space types and Volume Camera.
Isaac Sim Robotic Arm Inverse Kinematics Control
Methods for implementing Cartesian-space control (inverse kinematics) in Isaac Sim.
Visualizing URDF Models with ROS2 and Rviz2
Visualize URDF files with ROS2 and Rviz2, with an example package and a complete modification tutorial.
Summary of Basic ROS 2 Commands
I recently installed version 22.04 of Ubuntu and ROS 2 Humble on a new computer. To keep up with the times, I learned the new ROS 2 commands and summarized them here for easy reference.
Introduction to Using the Isaac Sim Simulation Environment
An introduction to the NVIDIA Isaac Sim simulation environment, covering installation, the GUI, and basic usage of Python programs.
Assigning a Fixed USB Device Port Name in Ubuntu (ttyUSB0->Custom Name)
Assign stable, custom device names (such as /dev/gripper) to USB-to-serial devices on Ubuntu
[Equipment Guide] Controlling the FAIRINO FR5 Robotic Arm with Python
The FR5 is a 6-DoF robotic arm with a configuration similar to the UR5. This article introduces basic motion control with its Python SDK.
[Equipment Guide] omega.7 Master Device Setup and Usage
Configuration and basic program usage for the Omega.7 virtual haptic force-feedback master device
[Paper Notes] ACT: Imitation Learning for Bimanual Manipulation with Low-Cost Hardware
A Stanford University bimanual imitation learning system with a full hardware and software stack that enables fine manipulation on low-cost, imprecise hardware.
[Simulation Experiment] Reproducing the robomimic Project
robomimic is a framework for robot learning from demonstrations. The project provides a range of demonstration data for robot manipulation and offline learning algorithms, enabling standardized testing of tasks and algorithms.
[Course Notes] Stanford CS25 V2 - Robotics and Imitation Learning
A lecture from Stanford CS25 V2 on robot learning, presented by a Google Brain engineer.
[Experiment Prep] Importing a Custom Robot into MuJoCo
Import a custom robot model into MuJoCo to lay the groundwork for building simulation environments for future reinforcement learning.
[Paper Notes] Residual Skill Policies: Learning an Adaptable Skill-based Action Space for Reinforcement Learning for Robotics
A skill-unit-based reinforcement learning method that decomposes tasks into skills, establishes mappings between skills and states, and learns a skill-selection policy
[Paper Notes] DEX: Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot
A surgical robot reinforcement learning method based on an improved DDPG+BC approach, developed by Yun-Hui Liu's team at The Chinese University of Hong Kong
[Paper Notes] Robot Motion Imitation with Reinforcement Learning
Survey and notes on reinforcement learning-based robot motion imitation methods.
[Paper Reproduction] MimicPlay: Learning Robot Skills from Human Demonstrations
A long-horizon imitation learning method from Fei-Fei Li's team at Stanford University that learns by watching human actions.
【Motion Imitation】Robot Motion Planning Methods Learned from Human Demonstrations
A survey of research on methods for robot motion generation and planning learned from videos of humans grasping objects.
【Grasping by Imitation】Learning Robotic Grasping from Human Demonstrations
A survey of research on robotic grasping learned from videos of humans grasping objects.
ROS Gazebo 6D Robotic Arm Grasping Simulation Experiment
Build a 6D robotic arm simulation environment in Gazebo, add a camera, and implement a grasping simulation experiment.
ROS System Buglist (Updated Irregularly)
A collection of various error messages encountered while using the ROS system for robot experiments, updated irregularly.
[Grasp Pose Estimation Algorithm] RGB Matters Paper Notes and Reproduction
Reproducing the RGB Matters algorithm proposed by Shanghai Jiao Tong University.
Survey of Grasp Pose Estimation Algorithms
A survey of grasp pose estimation papers from top conferences and journals over the past three years
[Grasping Algorithm] Contact GraspNet
Reproducing Contact GraspNet, a grasp estimation algorithm proposed by NVIDIA
Implementing Painting, Grinding, and Other Operations in RobotStudio (Curved-Surface Path Generation and Simulation)
Import a CAD model with complex curved surfaces, such as a car body, into RobotStudio. Use RobotStudio for path planning to enable a robotic arm to paint the car body.
ROS and STM32 Communication
Implemented bidirectional serial communication over UART between a host PC running ROS Noetic and an STM32F1 development board.
Controlling a Stepper Motor with STM32
Driving a 42-series stepper motor with an A4988 chip, tested on the STM32F1 platform, with up to 16× microstepping.
Siemens TIA Portal V15 Download and Installation Guide
An installation guide for Siemens TIA Portal V15 PLC automation design software.
Introduction to g2o Graph Optimization and Basic Usage
g2o (General Graph Optimization) is a graph optimization library that combines nonlinear optimization with graph theory. We can use g2o to solve any least-squares problem that can be represented as graph optimization.
【Basic Ceres Usage】Using Ceres to Fit a Curve and Solve a Least-Squares Problem
Ceres is a library for solving least-squares problems. We only need to define the problem to be optimized and let it perform the computation. Usage: 1. Define each parameter block. A parameter block is simply a vector, but it can also have a special structure such as a quaternion or Lie algebra……
STM32 Serial Communication Not Responding
I was using an STM32F103C8T6 minimum system board. After debugging the STM32 program on Windows and successfully establishing serial communication, the serial connection stopped responding after I restarted the computer.
Calibrating an External USB Camera in ROS
The purpose of camera calibration is to eliminate camera distortion. For details on how distortion occurs, see the previous article. The process of calibrating a USB camera in ROS can be broadly divided into several steps. ① Install the usb_camera driver package; ② run usb_cam to capture images from the USB camera; ③ download and print a checkerboard, then calibrate the camera.
Keil5 C51 Download and Installation Tutorial (51 MCU Programming Software)
This tutorial explains how to download and install the Keil5 51 edition. Keil5 is a very user-friendly and powerful C language software development system. Keil5 provides a clear and intuitive interface, is very easy and convenient to use, and includes compiler, compiler, installer package, and debugging and tracing features.
Keil5 MDK Edition Download and Installation Tutorial (STM32 Microcontroller Programming Software)
This tutorial explains how to download and install the MDK edition of Keil5. Keil5 is a very user-friendly and powerful C software development system. Keil5 provides a clear, intuitive interface, is very easy and convenient to use, and includes a compiler, compiler, installation package, and debugging and tracing features.
Simulating and Controlling a Differential-Drive Robot with ROS + Gazebo
Use xacro description files to create a differential-drive robot model, simulate the model in Gazebo, then use the libgazebo_ros_diff_drive.so plugin to control the robot's motion, and finally implement keyboard control of the robot in the Gazebo environment.
LabVIEW 2020 Download and Installation Tutorial
LabVIEW 2020 Chinese edition installation tutorial with Aliyun Drive links and detailed installation steps. For learning reference only—do not use for commercial purposes!
How to Use URDF and Xacro: A Robotic Arm Model Simulation Example
Why create a three-dimensional robot model? Robot simulation tools can help us identify critical errors in a design. Model simulation means that we create a robot model, so it does not necessarily look exactly like the real robot. However, because it is a simulation, the model must include all the characteristics of the real hardware.
A Detailed Explanation of Camera Models and Undistortion Methods
This article first introduces the imaging principle of pinhole cameras and the conversion between physical coordinates and pixel coordinates. It then introduces a distortion model based on real-world camera issues, presents undistortion formulas, and includes a detailed example program.
A Detailed Guide to Basic ROS Functionality (Basic Commands/Nodes/Services/Launch Files/Dynamic Parameters)
Starting with the creation of a workspace and package, this article explains the creation and compilation steps and provides a detailed summary of commonly used ROS commands. It then uses specific examples to explain in detail how to create nodes, services, launch files, and dynamic parameters, and demonstrates how they are used.
Proteus 8.9 Download and Installation Tutorial
The state machine is the most commonly used design model in engineering applications. With a state machine, we can easily implement decisions and branches in a program flowchart. A LabVIEW state machine consists of a While Loop, a Case Structure, and a shift register.
Introduction to LabVIEW State Machines with a Program Example
State machines are the most widely used design pattern in engineering applications. With a state machine, we can easily implement decisions and branches from program flowcharts. A LabVIEW state machine consists of a While loop, a case structure, and a shift register.
Creating and Calling SubVIs in LabVIEW
An important concept in programming is modularity, which means dividing a program into several blocks so that modifying one block does not affect the others. In LabVIEW, we use subVIs to implement modular programming.
Implementing a Drawing Board in LabVIEW
The two-dimensional Picture control provides pixel-level control and can create almost any graphical object. To display an image in a two-dimensional Picture control, you must write an image to the control programmatically. You can draw with the Picture Functions VIs.
LabVIEW Multi-Point Sinusoidal Motion Trajectories
A shift register passes the value generated in the previous loop iteration to the next iteration. Shift registers appear as pairs of terminals located at corresponding positions on the borders on opposite sides of a loop. A shift register must be initialized; that is, you must set the value that it passes to the first loop iteration.
[SLAM Notes] How to Use Eigen for Matrix Operations
Eigen is an open-source C++ linear algebra library that provides fast matrix and linear algebra operations, equation solving, and other features. Many higher-level software libraries also use Eigen for matrix operations. Eigen is a header-only library, so to use it, you only need to include its header files; no library linking is required.
[SLAM Notes] Three-Dimensional Rigid-Body Motion
The rotation and translation between two coordinate frames are collectively called the transformation between frames. While a robot moves, we often define an inertial frame (the world frame), which can be treated as fixed. The robot itself is a moving frame.
Generating a Three-Dimensional Surface in LabVIEW | Vase
Generating a surface of revolution such as a vase essentially involves sweeping a profile along a guide curve. For a vase, the method is to sweep a circle along a curve. The circle is generated as follows: the total number of loop iterations is 360, corresponding to 360 degrees, while i represents each angle from 0~360.
Drawing Circles/Ellipses in LabVIEW
A for loop runs for a fixed number of iterations and also has a conditional terminal that can terminate a while loop early, equivalent to the break statement in C. For loops are closely tied to array operations, and their most important function is processing array data.
[Proteus Simulation] Converting 220V to 5V to Power a Microcontroller
The components used include a simulated power supply, a transformer, a bridge rectifier, a non-polarized capacitor, an electrolytic capacitor, and a three-terminal voltage regulator IC. The wiring method is shown in the figure.
[SLAM Notes] Overview of SLAM
For a mobile robot, we often need it to know two things—where it is (localization) and what the surrounding environment looks like (mapping).
[ROS Study Notes] (Twelve) Common Visualization Tools
Rviz is a three-dimensional visualization tool that is highly compatible with robot platforms based on the ROS software framework. Rviz can graphically display robot sensor data, robot motion status, environmental information, and more.
[ROS Study Notes] (XI) How to Use Launch Files
The functions of a laubch file are as follows: it configures and starts multiple nodes through an XML file. It can also start ROS Master automatically (so there is no need to run roscore separately).
[ROS Study Notes] (X) Coordinate Frame Management in ROS
The TF package manages all coordinate frames. It keeps a ten-second history of the relationships among all frames and can show where a grasped object is relative to the robot's center frame.
[ROS Study Notes] (VIII) Defining and Using Service Data
Each time the Client makes one Request, the Server sends data once. The data format is personal information such as name, gender, and so on.
[ROS Study Notes] (IX) Using ROS Parameters from the Command Line and in Code
ROS Master includes a Parameter Server, which is a global dictionary that stores configuration parameters. These configuration parameters are globally accessible to all nodes.
[ROS Study Notes] (VI) Implementing the Client
Send a service request programmatically. In other words, the client sends a request to the server to spawn a turtle, and the server returns the response to the client. Go back to the catkin_ws/src directory and create a package named learning_service.
[ROS Study Notes] (VII) Implementing the Server
The server waits for a signal. Each time it receives a signal from the client, it toggles the turtle's motion state (moving → stopped, stopped → moving).
[ROS Study Notes] (V) Defining and Using Topic Messages
In ROS Master, you can publish and subscribe to predefined messages, such as information about a turtle's motion and pose. However, sometimes you need to define custom message types. The main objective of this section is to define a Person message containing personal information, publish it through a Publisher, and subscribe to it through a Subscriber.
[ROS Study Notes] (III): Implementing a Publisher
ROS Master contains two nodes: a Subscriber (turtlesim) and a Publisher. The Publisher is implemented in code to publish a Message containing linear velocity and angle. The Message is transmitted through a Topic channel to the Subscriber, thereby controlling the turtle's movement.
[ROS Study Notes] (IV) Implementing the Subscriber
In ROS_Master, you can publish and subscribe to messages. ROS_Master contains two nodes: a Subscriber (turtlesim) and a Publisher. The Publisher publishes Messages programmatically. The Message content includes linear velocity and angle, and it is passed to the Subscriber through the Topic pipeline, thereby controlling the turtle's movement.
[ROS Study Notes] (II) Creating the Workspace and Package
A workspace is a folder that holds project development files, similar to a project you create in an IDE on Windows. Folders in a workspace include …
[ROS Study Notes] (Part One): Explanations and Examples of Common Commands
roscore starts ROS Master and is the first command to run before starting a ROS system; rosrun runs a node in a package. It takes two arguments: the package name first and the node name second.
Installing ROS Noetic on Ubuntu20.04
Add the ROS software repository: open Software & Updates and select the first four download options. Make sure all of them are checked, or dependency issues will occur during installation. Then run the following commands to add the software repository and public key.
Troubleshooting rosdep_init and rosdep_update During ROS Installation (Tested on 2022.04.08)
The ROS installation process is covered in my previous blog post, Installing ROS_Noetic on Ubuntu20.04. During installation, rosdep_init reports 【ERROR_cannot download_default_sources_list_from…Website_may_be down.】. rosdep_update always times out and cannot update. I finally found a reliable solution that works.
Installing Ubuntu20.04 on a Raspberry Pi 4B
Go to the official Ubuntu website and download the Ubuntu installation package for Raspberry Pi. Use DiskGenius to format the SD card, delete all sectors, and then format it. Download the official imaging tool, select the .xz file you just downloaded as the image, select your SD card, and write the image. Then configure the Ubuntu environment...
Installing ABB RobotStudio 6.08
Cloud drive link: https://pan.baidu.com/s/1yUpRG146dUXC9Gj1D94AHw, extraction code: rsaz. Extract the installation package, run ABB RobotStudio 6.08.msi, and follow the prompts step by step to install it. After installation is complete, depending on your computer, extract...
Creating a Palletizing Robot in RobotStudio
First, import an IRB2600 robot and move the gripper's local coordinate origin to the center of its top surface (where it connects to the flange). Align the local coordinates of the gripper Smart Component with the coordinates of the robot's end flange...
Creating a Dynamic Gripper in RobotStudio
If you have a gripper model created with other modeling software such as SolidWorks, you can import it into RobotStudio. Here, a simple model is created, mainly to demonstrate the process of creating a dynamic gripper.
Configuring Collision Detection in RobotStudio
Click Create Collision Detection to create a collision check. Once created, ObjectA and ObjectB are the two groups to be checked. If objects in the two groups collide, their colors will change.
Creating and Simulating a Robot Path in RobotStudio
This article covers the process of creating a robot path after the mechanical model and robot system have already been created. The project files have been uploaded to a cloud drive, including the initial project file (03Practice_init.rspag), the completed project file (03Practice.rspag), and model files.
Building a Dual-Conveyor System in RobotStudio
Start by building the mechanical structure of the system. Import two conveyors, rotate the second conveyor 90° about the z-axis, then offset it -3200mm along the y-axis. Import the IRB120 robot and move it to a suitable position. Create a workpiece model...
The “No Valid Configuration Found” Issue When Creating a Target in RobotStudio
When creating a target using Create Target under Paths and Targets in RobotStudio, you may sometimes be unable to jump to the target because no valid configuration is found. Solution 1: Under Basic - Settings, select the correct tool coordinate system, such as the gripper's tool coordinate system.
RobotStudio Conveyor Design
Create a new station and import a conveyor from Equipment. Create a cube to serve as the object carried by the conveyor. Drag the small cube onto the conveyor at the desired position, using Snap and Set Position to position it precisely...
Fixing Slow Ctrl + Left-Mouse Dragging in RobotStudio
When using ABB RobotStudio, dragging the mouse to pan the view may sometimes suddenly become very slow. Right-click a blank area of the station, then click View All or View Center. This resolves the issue.
[RobotStudio Study Notes] (X) Modular Programs
When a program is relatively complex, or when repeated sections appear within a program, modular program design is often a viable approach. In RobotStudio, you can call different routines from the main program to keep the code logic clear.
RobotStudio Study Notes, Part Nine: Setting Coordinate Offsets
The Offs instruction offsets coordinates based on the currently selected workobject coordinate system and a reference point. Click the robtarget data to offset and select Function - Offs to configure the coordinate offset.
RobotStudio Study Notes, Part Eight: Speed Settings
In manual mode, the maximum speed is limited to 250mm/s. The v1000 speed used in a program is very fast both in simulation and on a physical robot, so the robot's motion speed and delay time need to be configured.
[RobotStudio Learning Notes] (VII) WorkObject Coordinates
Create a Cartesian coordinate system at any position and orientation on the target workbench; this is called a WorkObject coordinate system. By creating WorkObject coordinate systems at different locations, the same program can perform the same process at those different locations.
RobotStudio Study Notes, Part Six: Payload
After the gripper picks up a workpiece, the system load changes. This difference may not be obvious in a simulation, but it must be taken into account in a real system.
[RobotStudio Learning Notes] (IV) Workpiece Grasping Program Design
MoveJ moves the robot to a position. Set/Reset controls external devices. Add a MoveJ instruction at the initial position to move the robot gripper directly above the workpiece, then add another MoveJ instruction (adding a waypoint above the workpiece prevents the robot from grasping directly and possibly colliding with the workpiece from the side).
RobotStudio Study Notes, Part Five: Tool Data
Remove the gripper and measure the coordinates at the gripper tip. Click Modeling - Measure - Point to Point, select the gripper's base and end faces, and record the resulting z-coordinate value. Reinstall the gripper on the end of the robot. Open the Virtual FlexPendant, go to Manual Operation - Tool Coordinates - New, change the name, and click Initial Value in the lower-left corner. Set the first z (coordinate position) to the measured value, 215.30; set the mass parameter mass to 1; and enter an initial estimate for the second z (center-of-gravity position). Verify the coordinates, set Motion Mode to Reorient, and set Tool Coordinates to the coordinates created above. Moving the joystick shows the robot rotating about the center point between the two gripper tips.
RobotStudio Study Notes, Part Two: Manual Operation
Open a robot system and the Virtual FlexPendant. Click Menu - Manual Operation - Motion Mode. Four motion modes are displayed below. The single-axis options are Axes 1-3, plus Axes 4-6; these are followed by linear operation and reorientation. Here, select Axes 1-3, then click OK. On the right side of the manual operation screen, you can see the robot's position information and joystick directions.
[RobotStudio Learning Notes] (III) Creating Programs
Open the main menu > Program to see the program name on the top line. T_ROB1 is a task; you can choose one task for each mechanical unit. The second level is modules, divided into system modules and program modules. Modules split the robot's required functions into separate modules—think of them like folders. The third level is routines—the programs the robot system actually executes.
RobotStudio Study Notes, Part One: Software Installation and Initial Testing
Extract the installation package, run the setup.exe program in the package, and follow the prompts to install it. The process is quite simple. After installation, double-click RobotStudio_5.61.02注册补丁.reg. Open RobotStudio to complete the installation.
Building a Personal Website with Raspberry Pi: PeanutHull NAT Traversal
After WordPress has been installed and configured, you can access the website by entering localhost or the Raspberry Pi's IP address in a browser. However, it still cannot be accessed from the external network (outside the same router). The purpose of NAT traversal is to allow computers on the external network to access your website. To make the setup less difficult and complex, I used PeanutHull.
Building a Personal Website with Raspberry Pi: Installing WordPress
Download the installation package from the official WordPress website, extract it, and place the contents of the worpress folder in the html folder. Enter localhost/phpmyadmin in your browser to open phpMyAdmin, enter your phpMyAdmin username and password, click the Databases tab, create a new database, enter a database name, and click Create. No database tables are needed for now.
[Raspberry Pi Personal Website] Environment Setup
Setting up a personal website on a Raspberry Pi mainly involves the following steps—setting up a LAMP server (Linux + Apache + MySQL + PHP) and creating a database user (this step requires installing PhpMyAdmin and using SQL statements to add a MariaDB database user).
Raspberry Pi System Installation, Initial Configuration, and Remote Access
Raspberry Pi installation, configuration, and remote access mainly involve the following steps—preparing the TF card, downloading and writing the image, determining and accessing the IP address, updating and configuring package sources, and implementing Windows remote access. At this point, the initial system installation is complete and you can enter the graphical interface.
LabVIEW Study Notes (X): Case Structures
Case structures are similar to if…else… and switch structures in C and are mainly used to select among branches of program logic. A case structure contains two or more subdiagrams or cases. Only one case executes at a time. Right-click the case structure border to add, duplicate, delete, reorder, or select the default case. Multiple input/output tunnels can be created.
LabVIEW Study Notes (IX): Arrays and Clusters
When processing a series of similar data and performing repeated calculations, consider using an Array. An Array groups data elements of the same type. Place an Array shell on the front panel and drag a data object or element into the shell to create an Array. Array functions such as Array Size, Index Array, Build Array, Array Max & Min, Sort, and Split Array can all be performed with Array functions.
LabVIEW Study Notes (VIII): Property Nodes
Property nodes provide access to object properties. In applications that may need to programmatically change the appearance of front panel objects in response to specific inputs, these changes can be configured by editing property nodes. Right-click a control on the block diagram to create a property node. To configure multiple properties, drag the top or bottom border to add properties. A property node executes its properties from top to bottom.
LabVIEW Study Notes (VII): Variables and Shift Registers
The purpose of variables is to transfer data between parallel loops. Shift registers can transfer data generated by the previous iteration to the next iteration. Right-click the loop border to add a shift register. The shift register on the right stores the data at the end of each iteration, while the shift register on the left provides the stored data to the next iteration.
LabVIEW Study Notes (VI): While Loops and For Loops
A While Loop executes at least once, while a For Loop can execute 0 times. A While Loop automatically outputs the value from the last iteration, while a For Loop automatically outputs an array. You can right-click the border of a While Loop and convert it to a For Loop from the shortcut menu.
LabVIEW Learning Notes (V): A Comprehensive Data Type Exercise
Generate a sine-wave signal with a frequency of 0-50M; choose a sampling rate of 10M/50M/100M; detect the signal frequency; output the sampled signal's power spectrum; and restart averaging if the frequency or sampling rate changes.
LabVIEW Study Notes (IV): Dynamic Data Types
In LabVIEW, the dynamic data type is shown in dark blue. Only Express VI can produce and receive ExpressVI. Use the Get Dynamic Data ExpressVI to retrieve the properties of dynamic data, and use the Set Dynamic Data Attributes ExpressVI to set properties such as the signal name, timestamp, and time mode.
LabVIEW Study Notes (III): Basic Controls
Numeric controls can represent different types of numeric values. The most important setting for Boolean controls is the mechanical action. The display type of string controls can be changed from the shortcut menu. To add items to a control's drop-down list and reorder them, right-click an enum or ring control and select Edit Items from the shortcut menu, or click the Edit Items tab in the Properties dialog box.
LabVIEW Study Notes (II): Filter Experiment
Place an Express VI on the block diagram, configure the dialog box that appears, wire the Express VI, then save and run the VI.
Installing LabVIEW 2018
If you need a different version, see the resources page. Download the LabView2018.zip archive from Baidu Netdisk. Before installation, create a new folder for the LabVIEW installation path. It is best not to install it in the root directory of a drive.
LabVIEW Study Notes, Part One: Basic Introduction
Controls come from the Controls palette. Right-click to open the Controls palette. You can add a control to the front panel by clicking it or dragging it. A block diagram consists of terminals (from the front panel), subVIs, functions, constants, structures, and wires.
Installing and Uninstalling LabView2019
This release is the English version. For the Chinese version, see the resources page. Download the LabView2019.zip archive from the cloud drive, extract it and open the corresponding 64-bit or 32-bit folder, then extract the ISO file inside that folder, open the extracted folder, and double-click install.exe to install.
Expanding MCU Interfaces with a Three-to-Eight (38) Decoder
When designing MCU circuits, the number of MCU I/O pins is limited and sometimes cannot meet our design requirements. To control more devices, we need peripheral digital chips for pin expansion. A common choice is the 74HC138, also called a three-to-eight (38) decoder.
Proteus Simulation for Driving Multiple Two-Phase Four-Wire Stepper Motors
The CD4066 is a quad bilateral analog switch. Connect the four inputs of the CD4066 to the L298N outputs and the CD4066 outputs to the stepper motor's A+, A-, B+, and B- terminals. Tie all four control pins to one MCU pin so a single pin can switch all four switches on the CD4066 together, enabling stepper motor selection.
Solution to the Proteus Simulation Error: No power supply specified for net 5V in Power Rail Configuration.
Solution: Choose Design—Configure Power Rails. Under Power Supplies, add the power supply that is not connected to a net to the list of connected nets.
Two-Phase Four-Wire Stepper Motor Drive Principles and Proteus Simulation
A microcontroller cannot drive a stepper motor directly, so an L298N is needed as the driver. This article introduces some L298N parameters, along with the drive principles and methods for a two-phase four-wire stepper motor. A simulation experiment is also performed in Proteus based on the drive principles described.
ESP8266–App Connection Experiment
This experiment uses an ESP8266 NodeMCU. The firmware flashed is the official NodeMCU firmware. Open the official ESP8266Flasher, select the NodeMCU firmware in the Config tab, and set the flash address to 0x00000.