# Jump Bot

**Repository Path**: seaoftranquility/jumpbot

## Basic Information

- **Project Name**: Jump Bot
- **Description**: 控制弹跳机器人驱动程序
使用
stm32 c8t6 芯片
n20 舵机
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-05-06
- **Last Updated**: 2026-08-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# jumpbot (STM32F103C8T6 + IR + TB6612FNG + SG90)

Bare-minimum Keil5 firmware for the current jump prototype:

- Decode a full **NEC IR** frame on `PA0`.
- While a jump is running, ignore IR.
- Keep the SG90 at the latch-holding position.
- Use TB6612 motor A to wind the string.
- Use TB6612 motor B as a short release pulse.
- Sleep with `__WFI()` while idle.

## Documentation

- Project guide: `docs/README.md`
- Architecture, flowcharts, signals, pins, and properties: `docs/architecture.md`
- Troubleshooting log and fixes: `docs/troubleshooting.md`

## Where The Main Program Lives

- `Src/main.c` is the board startup file: HAL init, clock setup, GPIO setup, timer setup, and interrupt callbacks.
- `Src/app.c` is the robot behavior: `APP_Loop()` is called forever from `main()` and contains the jump state machine.
- `Inc/app.h` is the tuning panel: wind duty/RPM, release pulse time, and servo hold pulse.
- `Inc/tb6612.h` is the TB6612 direction-pin map.

## Current Jump Sequence

1. `IDLE`: wait for a valid NEC frame.
2. `HOLDING`: servo moves/stays at `APP_SERVO_HOLD_US` so the latch can resist torque.
3. `WINDING`: motor A winds the string for an estimated 5 revolutions.
4. `RELEASING`: motor A coasts; motor B pulses forward for `APP_RELEASE_PULSE_MS`.
5. Return to `IDLE`; servo remains at the holding position.

## Pin Map

- IR receiver OUT: `PA0` / `TIM2_CH1`
- TB6612 motor A winding PWM: `PA6` / `TIM3_CH1` / `PWMA`
- TB6612 motor A direction: `PB0` / `PB1` / `AIN1` / `AIN2`
- TB6612 motor B release PWM: `PA7` / `TIM3_CH2` / `PWMB`
- TB6612 motor B direction: `PB10` / `PB11` / `BIN1` / `BIN2`
- TB6612 standby: `PB12` / `STBY`
- SG90 servo hold PWM: `PB6` / `TIM4_CH1`

## Changing Pins

Keep this simple: update both the peripheral setup and the abstraction that uses it.

- Motor direction pins: update `Inc/tb6612.h` and `MX_GPIO_Init()` in `Src/main.c`.
- Motor PWM pins: update `MX_GPIO_Init()`, `MX_TIM3_Init()`, and channel usage in `Src/app.c`.
- IR pin: update `MX_GPIO_Init()`, `MX_TIM2_Init()`, and `IR_NEC_Init(...)` in `Src/app.c`.
- Servo pin: update `MX_GPIO_Init()`, `MX_TIM4_Init()`, and the timer channel passed to `SERVO_SG90_SetPulseUs(...)`.

## Power Reality Check

Your 10g battery/boost supply is tight:

- Rated output: 5V at 200mA
- Short max: 1A for 60s
- Cell capacity: 3.7V at 250mAh

That is likely enough for STM32 + IR, but marginal for SG90 holding torque plus loaded N20 motors. A stalled motor or loaded servo can pull several hundred mA each. For first tests:

- Start with low duty: `APP_WIND_DUTY_PERMILLE = 350`, `APP_RELEASE_DUTY_PERMILLE = 350`.
- Test motor A and motor B separately before the full jump.
- Add a bulk capacitor near TB6612/servo power, e.g. 470uF to 1000uF.
- Common ground is required between battery/boost, STM32, TB6612, IR, and servo.

## Calibration

Tune these in `Inc/app.h`:

- `APP_WIND_DUTY_PERMILLE`: default `350` = 35%.
- `APP_WIND_RPM_AT_DUTY`: estimated winding motor RPM under load at that duty.
- `APP_WIND_REVOLUTIONS`: default `5`.
- `APP_RELEASE_DUTY_PERMILLE`: default `350` = 35%.
- `APP_RELEASE_PULSE_MS`: default `300`.
- `APP_SERVO_HOLD_US`: default `2000`.

Wind run time is computed as:

```text
time_ms = APP_WIND_REVOLUTIONS * 60000 / APP_WIND_RPM_AT_DUTY
```

## Build

Open `Projects/MDK-ARM/jumpbot.uvprojx` in Keil and build.

The generated CubeMX code did not include timer init, so this project has manual `MX_TIM2_Init`, `MX_TIM3_Init`, `MX_TIM4_Init`, GPIO setup, and HAL callbacks in `Src/main.c`. Avoid regenerating from CubeMX unless you first configure those peripherals in the `.ioc`, or CubeMX may overwrite the manual integration.

## Bring-Up Checklist

- Verify IR receiver output idles high and pulses low when receiving IR.
- With motors disconnected, confirm one NEC press enters the sequence and extra presses are ignored while active.
- Confirm `PA6` PWM appears during winding and motor A winds in the correct direction.
- Confirm `PA7` PWM appears for about 300ms during release and motor B trips the latch.
- Confirm servo holds the latch at `APP_SERVO_HOLD_US` and current draw is acceptable.
- If the board resets during winding/release, the battery/boost rail is sagging.