微型机器人无线群组化控制器设计与实现

针对微型机器人群组控制对无线传输及多路舵机控制的需求，提出了一种基于STC12C5A60S2及CC2530实现对16路舵机无线群组控制的控制器设计方案，利用轮询机制和脉宽递增方法对多路舵机转角和转速独立控制，并基于Z-STACK协议栈实现自组网、无线传输和远程ISP下载。经实验测试，实现了对含多路舵机的多个微型机器人的无线群组控制。

Design and Implementation of Wireless Group Controller of Micro-robots

As wireless data transmission and multi-channel servo controller are required in the group control of micro-robots, we propose a design of controller that realizes wireless group control of the 16-channel servo on the basis of STC12C5A60S2 and CC2530. In this design, independent control of the rotation angle and speed of multi-channel servo is achieved by adopting polling and incremental PWM method. In this way, it allows ad hoc network, wireless transmission and remote ISP to function based on Z-STACK Protocol Stack. The design is tested through experiments and it makes possible the wireless group control of several micro-robots that contain multi-channel servo.