萝卜圈仿真 - 指南针传感器使用指南(1)
沿角度走子程序
条件判断 指南针当前值 ≥（目标角度+2）
机器人偏向了目标角度的左侧
机器人右走 左右电机同为正向，左比右快
条件判断 指南针当前值 ≤（目标角度‒2）
机器人左走 左右电机同为正向，右比左快
机器人偏向了目标角度的右侧 机器人直行
机器人和目标方向偏差较小
判断结束
7
程序原图
_沿角度走
萝卜圈三维机器人在线仿真平台
萝卜圈三维机器人在线仿真平台 指南针传感器使用指南
萝卜圈网络技术有限公司 日期：2016/01/12 版本：1.1
目录
萝卜圈三维机器人在线仿真平台
1. 文档约定 ......................................................................................................................................................1 2. 如何获取指南针传感器返回值...................................................................................................................2 3. 利用指南针转向思路说明（左转为例）...................................................................................................3
红色小竖线代表机器人的朝向 红色小圆圈代表机器人所在位置
此图中，两个机器人指南针传感器的返回值都为 0。
此图中，两个机器人指南针传感器的返回值都为 45。
2
依次类推，机器人朝向与返回值之间的关系见下图所示：
萝卜圈三维机器人在线仿真平台
1 0 359
89
271
90
270
91
269
179 180 181
6
萝卜圈三维机器人在线仿真平台
5. 利用指南针控制机器人沿着指定方向前进
如下图所示：机器人处于目前所在位置需要去收集树脚下的恐龙蛋。如果简单的转向恐龙蛋方向， 然后走直线到树脚下，由于地面坑洼不平，走快后必然会发生速行走呢？这里将需要的角度设置为【目标角度】，如果机器 人偏到比【目标角度】大 2 度，则表示机器人方向偏到了左侧，需要往右走，才可以走回正确的方向上； 反之偏到了比【目标角度】小 2 度，则表示机器人方向偏到了右侧，需要往左走，才可以走到真确的方 向上。因此程序设计思路如下图：
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需要技术支持，请联系我们。
萝卜圈网络技术有限公司
网站： 电话：400 – 803 - 8802 邮件：tech@ QQ 群：6562718
9
3
萝卜圈三维机器人在线仿真平台
因此我们可以写一个利用指南针左转的算法，首先确认【目标角度】和旋转方向都是依据场景和编 程者的思路先定位好的。另外考虑惯性因素，需要给出一个误差范围，这个范围本文档暂且定位为 3 度（转向速度越大，误差角度越大；反之越小），即机器人离【目标角度】还有 3 度时，即认为达到了 【目标角度】，停止旋转，利用惯性使机器人尽可能的达到【目标角度】。
180
357
左 7，右 12
左 12，右 12
8
主程序中的应用
目标角度
285
_右转
_沿角度走
萝卜圈三维机器人在线仿真平台
注：沿角度走子程序在使用前一般都需要先转到该目标角度，再来沿角度行走，在沿角度行走子程序 内没有循环体，因此在调用时需要循环调用。
0 度角和非 0 度角的沿角度行走可以通过算法合并到一个程序里的，只是算法比较复杂，本文档中 不做说明。
1. 文档约定
本文档约定，指南针传感器安装到机器人上后，指南针传感器上 N 所指向的方向必须与机器人正 前方保持一致。在遵守此约定的前提下，本文档的指南针传感器返回数值才成立，如下图所示：
1
萝卜圈三维机器人在线仿真平台
2. 如何获取指南针传感器返回值
指南针传感器的返回值为机器人朝向与地图正北方向的夹角。在萝卜圈三维机器人在线仿真平台里 面，在仿真界面右侧有一个任务小场景，分别标有东南西北四个方向。机器人朝向分别指向这四个方向 时，指南针传感器的返回值依次为：北 0 度、西 90 度、南 180 度、东 270 度。
5
萝卜圈三维机器人在线仿真平台
主程序中的应用（暂定起始时机器人朝向为北，指南针返回值为 0 度）：
目标角度
235
_右转
此程序的执行结果为： 机器人从起始位置 0 度右转到 235（右 转效率较高） 等待 1000 毫秒之后，由 235 度右转到 250 度（右转效率较高）
1000
目标角度
250
_右转
机器人朝向和指南针返回值示意图
3. 利用指南针转向思路说明（左转为例）
在利用指南针转向之前，首先需要确认机器人转到某个角度（依据场景的客观条件而定），这个角 度本文档中定位为【目标角度】。
如下图：机器人走到当前位置，接下来需要左转向（右转或者继续走会掉下悬崖，无法完成任务）， 此时这个【目标角度】根据场景因素，可以确认为 0 度（看小地图上机器人朝向，目前状态下机器人头 对着东方，指南针返回值应该为 270 左右，左转后小路的朝向指向北方），而且依据高效率的原则，机 器人左转向会较快达到【目标角度】。
1000
目标角度
250
_左转
此程序的执行结果为： 机器人从起始位置 0 度左转到 135（左 转效率较高） 等待 1000 毫秒之后，由 135 度左转到 250 度（左转效率较高）
4. 利用指南针右转的程序样例图
程序原图
目标角度
目标角度
3
原地右转，左边电机+5，右边电机-5
指南针传感器当前的返回值，随着机器人的转动而时刻变化
程序原图 ......................................................................................................................................................4 主程序中的应用........................................................................................................................................... 5 4. 利用指南针右转的程序样例图...................................................................................................................5 程序原图 ......................................................................................................................................................5 主程序中的应用........................................................................................................................................... 6 5. 利用指南针控制机器人沿着指定方向前进...............................................................................................7 程序原图 ......................................................................................................................................................8 沿 0 度角程序图...........................................................................................................................................8 主程序中的应用........................................................................................................................................... 9 技术支持 ..............................................................................................................................................................9
目标角度
2
左 12，右 7
目标角度
2
左 7，右 12
左 12，右 12
说明：此算法不适用于 1、0、359、358 这个角度上，即靠近 0 度方向。因为 1-2= ‒1；358+2=360； 359+2=361，这几个数值已经超出了指南针返回值的范围。
沿 0 度角程序图
_沿 0 角度走
2
180
左 12，右 7
传感器原理与应用_传感器实验指导书YC2000与3000用户手册
前言YC-2000/3000系列传感器检测技术实验台主要用于各大、中专院校及职业院校开设的“传感器原理与技术”、“自动化检测技术”、“非电量电测技术”、“工业自动化仪表与控制”、“机械量电测”等课程的实验教学。
实验台上采用的大部分传感器虽然是教学传感器（透明结构便于教学），但其结构与线路是工业应用的基础，希望通过实验帮助广大学生加强对书本知识的理解，并在实验的进行过程中，通过信号的拾取、转换、分析、掌握作为一个科技工作者应具有的基本的操作技能与动手能力。
YC-2000/3000系列传感器检测技术实验台为适应不同类别，不同层次的专业需要，最新推出的模块化的新产品。
其优点在于：1、能适应不同专业的需要，不同专业可有不同的菜单，可以根据用户的特殊要求制作模块。
2、能适应不断发展的趋势，可以不断补充新型的传感器模块。
3、指导教师和学生可以开发与组织新实验，本公司可以提供空白的模块。
4、可以利用主控台的共用平台用于学生课程设计、毕业设计和自制装置。
本实验指南，由于编写时间仓促，水平有限，难免有疏漏廖误之处，热切期望实验指导老师与学生们，能提出宝贵意见，谢谢！目录YC－2000型传感器检测技术实验台 ............................................................ 错误!未定义书签。
YC－3000型传感器检测技术实验台 ............................................................ 错误!未定义书签。
示范实验举例................................................................................................... 错误!未定义书签。
实验一应变片单臂电桥性能实验....................................................... 错误!未定义书签。
Polar WearLink 传感器 Nike+ 用户手册说明书
POLAR WEARLINK+ TRANSMITTER NIKE+ User ManualPolar WearLink®Transmitter Nike+ This user manual contains instructions for the Polar WearLink transmitter Nike+.The heart rate sensor is compatible with Nike+iPod, Nike+SportBand and Polar training computers using GymLink technology,such as FT80,FT60,RS300X,and CS400.For detailed list of compatible products.The latest version of this user manual can be downloaded.Please follow the pictures on the front cover.Heart Rate Sensor Parts1.The plastic electrode areas on the reverseside of the strap detect heart rate.PictureA1.2.The connector sends the heart rate signalto the receiving device.Picture A2.WearLink heart rate sensors enable training in a group without interference from other heart rate sensors.Wear the Heart Rate Sensor1.Moisten the electrode areas of the strap.Picture B1.2.Attach the connector to the strap.PictureB2.3.Adjust the strap length to fit tightly butcomfortably.4.Tie the strap around your chest,just belowthe chest muscles,and attach the hook tothe other end of the strap.Picture B3.5.Check that the moist electrode areas arefirmly against your skin and that the Polarlogo of the connector is in a central andupright position.Picture B4.Detach the connector from the strap and rinsethe strap under running water after every use.See detailed washing instructions in the Caring for Your Heart Rate Sensor section.Linking the Heart Rate Sensor with Nike+ iPodNike+iPod-compatible heart rate sensors are sold separately from the Nike+iPod Sport Kit and the Nike+iPod sensor.Nike+iPod compatible heart rate sensors can be used with iPod nano(5th generation or newer).Before using the heart rate sensor for the first time,you must link it to your iPod nano receiver:•iPod nano(5th generation or newer): Connect your Nike+iPod receiver to youriPod nano,choose Nike+iPod>Settings> Heart Rate Monitor>Link,and follow theon-screen instructions.Unlinking the heart rate sensor:•iPod nano:Choose Nike+iPod>Settings> Heart Rate Monitor>Unlink,and follow the on-screen instructions.Linking the Heart Rate Sensor with Nike+ SportBandNike+SportBand-compatible heart rate sensors are sold separately from the Nike SportBand. Before using the heart rate sensor for the first time,you must link it to your Nike+SportBand:1.Wear the heart rate sensor.Make sure thereare no other shoe sensors or heart ratesensors nearby.2.Press and hold the TOGGLE button on theNike SportBand for3seconds.A blinkingLink message appears on the SportBanddisplay,followed by OK.For more information on the Nike+SportBand, see the complete manual available atnikeplus/downloads.Caring for Your Heart Rate SensorThe heart rate sensor is a high-tech instrument that should be handled with care.Follow the caring instructions to ensure reliable measurement and to maximize the life span of the heart rate sensor.The following instructions will help you fulfill guarantee obligations. Connector:Detach the connector from the strap after every use and dry the connector with a soft towel.Clean the connector with a mild soap and water solution when needed.Never use alcohol or any abrasive material(eg.steel wool or cleaning chemicals).Strap:Rinse the strap under running water after every use and hang to dry.Clean the strap gently with a mild soap and water solution when needed.Do not use moisturizing soaps,because they can leave residue on the strap.Do not soak,iron,dry clean or bleach the strap.Do not stretch the strap or bend the electrode areas sharply.Dry and store the strap and the connector separately,to maximize the heart rate sensor battery lifetime.Keep the heart rate sensor in a cool and dry place.Do not store the heart rate sensor wet in non-breathing material,such as a sports bag,to prevent snap oxidation.Do not expose the heart rate sensor to direct sunlight for extended periods.Check the label on your strap to see if it ismachine washable.Never put the strap or theconnector in a dryer!ServiceDuring the warranty period,service the product at an authorized Polar Service Center only.The warranty does not cover damage caused by unauthorized service.See Limited International Polar Guarantee.BatteriesTo change the battery yourself,follow the instructions below,and see the markings on the connector and picture C on the front cover of this user manual.ing a coin,open the battery cover byturning it counterclockwise to OPEN.2.Insert the battery(CR2025)inside thecover with the positive(+)side against thecover.Make sure the sealing ring is in thegroove to ensure water resistance.3.Press the cover back into the connector.e the coin to turn the cover clockwise toCLOSE.When changing the battery,make sure the sealing ring is not damaged,in which case you should replace it with a new one to ensure the water resistance of the connector.Battery kits with sealing rings are available at Polar retailers and authorized Polar Service Centers.In the USA and Canada,sealing rings are available at authorized Polar Service Centers only.Keep batteries away from children.Ifswallowed,contact a doctor immediately.Batteries should be disposed of in compliancewith local regulations.For allergy information,see the listed materials in Technical Specifications.Avoid skinreactions by wearing the heart rate sensor over a shirt,moistened under the electrodes.The combined impact of moisture and intense abrasion may cause a black color to come off the heart rate sensor’s surface,possibly staining light-colored clothes.If you use perfume or insect repellent on your skin,you must ensure that it does not come into contact with the heart rate sensor.Using Your Heart Rate Sensor in a Water Environment Polar WearLink transmitter Nike+may be used when swimming,but interference may occur for the following reasons:•Sea-and pool water are very conductive,and electrodes may short-circuit,preventing ECG signals from being detected by the heart rate sensor.•Jumping or sharp muscle movement may shift the heart rate sensor so the ECG signals cannot be detected.•The ECG signal strength is individual and depends on tissue composition.Technical SpecificationsBattery type:CR 2025Battery sealing ring:O-ring 20.0x 1.0Material FPM WearLink Nike+battery life:600h Operating temperature:14°F to 122°F/-10°C to +50C Connector material Polyamide Strap material 38%Polyamide,29%Polyurethane,20%Elastane,13%Polyester•This guarantee does not affect theconsumer’s statutory rights under applicable national or state laws in force,or theconsumer’s rights against the dealer arisingfrom their sales/purchase contract.•This limited Polar international guarantee is issued by Polar Electro Inc.for consumerswho have purchased this product in the USA or Canada.This limited Polar internationalguarantee is issued by Polar Electro Oy forconsumers who have purchased this product in other countries.•Polar Electro Oy/Polar Electro Inc.guarantees the original consumer/purchaser of this device that the product will be freefrom defects in material or workmanship for two(2)years from the date of purchase.•The receipt of the original purchase is your proof of purchase!•The guarantee does not cover the battery, normal wear and tear,damage due tomisuse,abuse,accidents or non-compliance with the precautions;improper maintenance, commercial use,cracked,broken orscratched cases/displays,armband,elasticstrap and Polar apparel.•The guarantee does not cover any damage/s, losses,costs or expenses,direct,indirect or incidental,consequential or special,arising out of,or related to the product.•Items purchased second hand are not covered by the two(2)year warranty,unless otherwise stipulated by local law.•During the guarantee period,the product will be either repaired or replaced at any of theauthorized Polar Service Centers regardlessof the country of purchase.Guarantee with respect to any product will be limited to countries where the product has been initially marketed.。
Suunto_Ambit3_Run_UserGuide_ZH
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4
1 安全
安全措施类型
警告 - 结合操作程序或实际情况使用，用于可能导致严重人身伤害 或死亡的情况。 小心 - 结合操作程序或实际情况使用，用于可能导致产品受损的 情况。 注释 - 用于强调重要信息。 提示 - 用于提供有关如何利用本设备特点和功能的额外提示。
5 7 7 8 10 11 11 12 12 13 14 15 16 18 19 20 20 21 21 22 22 23 24 27 27 27 28 29
3.10 查找回程 ........................................... 3.11 固件更新 ........................................... 3.12 FusedSpeed ......................................... 3.13 图标 ............................................... 3.14 间隔计时器 ......................................... 3.15 间歇锻炼 ........................................... 3.16 日志 ............................................... 3.17 存储器余量指示器 ................................... 3.18 Movescount ......................................... 3.19 Movescount 移动应用程序 ............................ 3.19.1 手机上的第二块显示屏 ........................... 3.19.2 与移动应用程序同步 ............................. 3.20 使用 GPS 导航 ...................................... 3.20.1 获取 GPS 信号 .................................. 3.20.2 GPS 网格和位置格式 ............................. 3.20.3 GPS 准确度和节电 ............................... 3.21 通知 ............................................... 3.22 POD 和心率传感器 ................................... 3.22.1 配对 POD 和心率传感器 .......................... 3.22.2 使用 Foot POD .................................. 3.23 兴趣点 ............................................. 3.23.1 查看位置 ....................................... 3.23.2 将位置添加为 POI ............................... 3.23.3 删除 POI ....................................... 3.24 路线 ............................................... 3.24.1 导航路线 ....................................... 3.24.2 导航期间 ....................................... 3.25 维护菜单 ...........................................
指南针使用手册
指南针使用手册1.概述高精度指南针拥有8个方位指示LED 灯，一键设置按钮，UART 串口输出。
2.图解3.使用指南针每次到新的环境中使用，都需要进行消磁和置零点操作。
当您打开控制器电源，看到指南针的方向指示灯点亮后，就可开始进行以上操作。
首先，需要消磁，请按如下步骤操作。
操作指示灯状态按住操作按钮不放，指南针会逐个点亮指示灯，当第二个灯亮起时，放开按钮，进入消磁状态8个灯闪烁缓慢旋转指南针或机器人，使8个灯闪烁指南针记忆该场地的磁场环境。
持续三圈以上。
要点：指南针水平，旋转速度要慢。
短按操作按钮，结束消磁 单个指示灯亮，指示方向 设置零点,请按照如下步骤操作：操作 指示灯状态单个指示灯亮，指示方向 将机器人至于场地，并且将指南针水平放置，按钮位于右手边，零度角LED（见图解）对准需要标定的0度位置短按操作按钮，设置0度位置单个指示灯亮，指示0度新的方向4.编程1.流程图2.代码#include"RobotLib.h"int com_1=0;void main(){com_1 = Compass_Degree();}代码中 com_1是自定义的变量，函数 Compass_Degree() 功能为得到指南针的数值，赋值后，com_1的值即为指南针的值。
5.参数参数 数值工作电压 4.5V – 5.5V输出接口 串口波特率 9600数据更新速率 240 次每秒传输速度 4.2毫秒每次分辨率 < 0.5度重复精度 < 1.5度。
MGJ 迷你指南针引导柱环单元说明说明书
Series MGJMiniature Guide Rod CylinderUnit: mm DimensionsO v e r a l l l e n g t hWidthNon-rotatingaccuracy:H e i g h t±0.1˚Mounting from 2 directionsTwo auto switches can be mounted even for 5 mm strokesIntegral wiring/piping to one direction61023 + Stroke 25 + Stroke293314.517Bore sizeOverall lengthWidthHeight610527.340.61033.048.01538.455.620-63.2Unit: gStandard stroke (mm)MassBore size (mm)565101520-Standard stroke (mm)CushionAuto switchRubber bumper (Both sides)D-F8२Series VariationsGuide rod size(mm)610Bore size (mm)MGJSeries255MGJ MGP MGQ MGG MGC MGFMGZ MGTIndividual -XD- -XC o u r t e s y o f C M A /F l o d y n e /H y d r a d y n e ▪ M o t i o n C o n t r o l ▪ H y d r a u l i c ▪ P n e u m a t i c ▪ E l e c t r i c a l ▪ M e c h a n i c a l ▪ (800) 426-5480 ▪ w w w .c m a f h .c o mHow to OrderMiniature Guide Rod Cylinderø6, ø10Series MGJMGJ Miniature Guide Rod Cylinder610F8NMiniature Guide Rod CylinderBore size 610 6 mm 10 mmNilSCylinder stroke (mm)Refer to the following table q and w .Number of auto switches2 pcs.1 pc.Auto switch typeNilWithout auto switch (Built-in magnet)∗Select the applicable auto switch from the table below.∗The minimum auto switch mounting stroke with 2 auto switches is 4 mm.610Bore size (mm)Standard stroke (mm)5, 10, 155, 10, 15, 20Table q Standard Strokes610ExampleBore size (mm)Applicable stroke (mm)1 to 15 (Spacer type)1 to 20 (Spacer type)Model no.: MGJ6-9Installing a 1 mm width spacer for MGJ6-10External size: same as MGJ6-10Table w Intermediate Stroke (by the 1 mm stroke)∗ Lead wire length symbols:0.5 m (i)(Example) F8N 3 m ................L (Example) F8NL 5 m ................Z (Example) F8NZ∗ Auto switches marked with ć are produced upon receipt of order.∗ When using non-applicable auto switches, please consult with SMC.∗ Auto switch is shipped together (not assembled).TypeSpecial functionElectrical entryIndicator lightWiring (output)Load voltageDCDirect mountingF8NF8P F8B bb b bb b ćććIC circuitRelay PLC–0.5(Nil)3(L)5(Z)Auto switch part no.Lead wire length (m)Applicable loadApplicable Auto Switches/Refer to pages 1719 to 1827 for detailed auto switch specifications.–Yes 24 V5 V 12 V12 V 3-wire (NPN)3-wire (PNP)2-wire Grommet (Perpen-dicular)S o l i d s t a t e s w i t c h256C o u r t e s y o f C M A /F l o d y n e /H y d r a d y n e ▪ M o t i o n C o n t r o l ▪ H y d r a u l i c ▪ P n e u m a t i c ▪ E l e c t r i c a l ▪ M e c h a n i c a l ▪ (800) 426-5480 ▪ w w w .c m a f h .c o mCautionThis product should not be used as a stopper.Series MGJAllowable Eccentric LoadMake sure that the load mass (W) is within the range in the graph below when there is an eccentric distance (L) from the center of the cylinder. Using cylinders are beyond the limit may shorten the product service life or cause damage.WLWL L o a d m a s s (k g )Eccentric distance L (mm)0.010.11100.1110100MGJ10MGJ6Operating pressure 0.3 MPaOperating pressure 0.5 MPa or morePlate Allowable Lateral LoadWhen the eccentric distance (L) generates from the plate (rod end), be sure to keep the load mass (W) no more than a value in the below graphic. Operation outside of this range may cause excessive impact, which may result in the damage to the devices.ConstructionL WLWParts listNo.Description Material Note Body Rod cover Piston Piston rod Magnet retainer Seal retainer Guide rod PlateTorque socket head boltHexagon socket head cap screwBrazier head hexagon socket bolt Bumper Magnet Bushing Rod seal Piston seal O-ring12345678101112131415169Hard anodized Chromated ChromatedChromated, in case of ø6In case of ø10Chromated, in case of ø6In case of ø10Hard chromium electroplatedHard anodized Nickel plated, in case of ø6Nickel plated, in case of ø10Nickel platedAluminum alloy Aluminum alloy Aluminum alloy Stainless steel Aluminum alloy Stainless steel Aluminum alloy Stainless steel Carbon steel Aluminum alloy Carbonl steel Carbon steel Carbon steel Resin —Special friction resistant materialNBR NBR NBRø10100806040200051015205st10st15stL o a d m a s s W (g )Eccentric distance L (mm)ø6300250200150100500051015205st10st15st20stL o a d m a s s W (g )Eccentric distance L (mm)o!0!w i !4!3y ur !1q t !2!5e !1Allowable Kinetic Energy60.0120.05 to 0.50.035Bore size (mm)Operating piston speed (m/s)Allowable kinetic energy (J)10When driving the cylinder with inertial load, keep kinetic energy no more than the allowable value. The area between bold lines in the below graphic shows the relation between load mass and maximum speed.L o a d m a s s (k g )Maximum speed (m/s)ø1010010.011.00.1100.10.01ø6258C o u r t e s y o f C M A /F l o d y n e /H y d r a d y n e ▪ M o t i o n C o n t r o l ▪ H y d r a u l i c ▪ P n e u m a t i c ▪ E l e c t r i c a l ▪ M e c h a n i c a l ▪ (800) 426-5480 ▪ w w w .c m a f h .c o mMiniature Guide Rod Cylinder SeriesMGJDimensionsø6ø10[≅ 6.7]9 + Stroke923 + Stroke8.4ø512ø3ø562920.514.5618.5 + Stroke 3.520.52[≅ 23.3]2820.592 x ø3.3 throughCounterbore ø6.2 depth 0.54 x M3 x 0.5 depth 52 x ø1.2(Guide air release)2 x M3 x 0.5(port size)[Auto switch]2 x M2.5 x 0.45 through6.1 + Stroke[≅ 6.7]ø625 + Stroke 15ø57.5178332310[≅ 24.5]3223115ø623319 + Stroke 8.610.5 + Stroke2 x M3 x 0.5(port size)2 x ø2 through (Guide air release)4 x M4 x 0.7depth 52 x M3 x 0.5 through2 x ø4.3 throughCounterbore ø8 depth 0.55.4 + Stroke[Auto switch]∗ For intermediate strokes other than standard strokes, refer to theManufacture of Intermediate Stroke on page 256.259MGJMGP MGQ MGG MGCMGF MGZMGTIndividual -XD- -XC o u r t e s y o f C M A /F l o d y n e /H y d r a d y n e ▪ M o t i o n C o n t r o l ▪ H y d r a u l i c ▪ P n e u m a t i c ▪ E l e c t r i c a l ▪ M e c h a n i c a l ▪ (800) 426-5480 ▪ w w w .c m a f h .c o mSeries MGJBAAuto Switch Proper Mounting Position (Detection at Stroke End)Bore size Operating rangeø6ø101.61.30.91.734A B (mm)Auto Switch MountingWatchmaker’s screwdriver Auto switch mounting screw•Use a watchmaker’s screwdriver with a handle about 5 to 6 mm in diameter when tightening the auto switch mounting screw.•Tightening torque of auto switch mounting screw should be set 0.10 to 0.20 N .m.260C o u r t e s y o f C M A /F l o d y n e /H y d r a d y n e ▪ M o t i o n C o n t r o l ▪ H y d r a u l i c ▪ P n e u m a t i c ▪ E l e c t r i c a l ▪ M e c h a n i c a l ▪ (800) 426-5480 ▪ w w w .c m a f h .c o mSeries MGJSpecific Product PrecautionsBe sure to read before handling.Refer to front matters 42 and 43 for Safety Instructions and pages 3 to 11 for Actuator and Auto Switch Precautions.w1. Do not put hands or fingers, etc. between the plate and body.Care should be taken that hands or fingers do not get caught in between the cylinder body and the plate when air pressure is applied.Mounting MountingWarningCautionMGJ6MGJ10Bolt ModelM2.5 x 0.45M3 x 0.50.51.0Maximum tightening torque (N·m)3. Flatness of mounting surface should be less than 0.02 mm.When mounting Miniature Guide Rod Cylinder, or mounting plate to work piece, sideling mounting surface may cause malfunction.4. Be sure that the piston rod is extended be-fore mounting loads.If loads are mounted to the plate when the piston rods are retracted, it can lead to distortion of the guides resulting in mal-function.5. When mounting the load with screws, do not exceed the maximum tightening torque.(The torque may vary depending on the mate-rial of the load.)6. When the cylinder output is directly applied to the moving parts of the cylinder, such aswhen clamping a workpiece, be sure to apply the cylinder output to the center of the cylin-der (along the rod axial line).1. Do not scratch or dent the sliding parts of the piston rod and guide rods.Damage to seals can cause air leakage or malfunction, etc.2. When mounting the miniature guide rod cylinder with screws, do not exceed the maximum tightening torque.(The torque may vary depending on the material of the mounting side.)CautionMGJ6MGJ10Bolt Model M3 x 0.5M4 x 0.71.22.70.30.7Top mounting Bottom mounting Maximum tightening torque (N·m)Top mounting Bottom mounting1. This product should not be used as a stopper.OthersCaution261MGJMGP MGQ MGG MGCMGF MGZ MGTIndividual-XD- -XC o u r t e s y o f C M A /F l o d y n e /H y d r a d y n e ▪ M o t i o n C o n t r o l ▪ H y d r a u l i c ▪ P n e u m a t i c ▪ E l e c t r i c a l ▪ M e c h a n i c a l ▪ (800) 426-5480 ▪ w w w .c m a f h .c o m。
指南针使用说明
1.测方位角：展开指北针，转动方位框使方位玻璃上的刻度线与方向指标相对正，将平视镜斜放（45°）单眼通过准星瞄向目标，从平视镜反射看到磁针N极所对反字表牌上方位分划，既可读出目标方位角，然后用右手转动方位框使方位玻璃上的刻度线与磁针N极对准，此时方向指标与方位玻璃刻度线所夹之角即为目标方位角（按顺时针方向计算）。
打开指北针，标定好地图（测距时可不标定地图），在图上基准点处插一扎针，转动指北针，使侧尺边切于目标点，即可判读出基准点至目标点的方位角。
2.标定地图：展开指北针，转动方位框，使方位框上的刻度线字与方向指标对准（注意磁偏角的修正），将指北针平放在地图上，准星一端朝向地图北极，使坐标梯尺长与地图磁子午线相切，转动地图使磁针N极对准方位玻璃上的刻度线，此时地图即已标定。
3.求向掩蔽目标行进的行军方向：展开指北针于地图上，使测绘尺经过的图上本人立足点与行军目标，这时方向指标即指应行进的方向。
转动方位框使方位玻璃上的（S、N)方向与地图上的（S、N）方向一致，然后记下方向指标所指方位角读数，面对方向指标拿起指北针旋转身体，使磁针N极与方位玻璃上的刻度线对准，此时通过准星照门向前对准，在此对准线上的各物体（如树林、房屋等）都可作为行军方向的辅助目标，认清辅助目标后即可对之前进。
将指北针关闭装入袋内，但勿转动方位框，到达辅助目标后即可再找一新辅助目标继续前进，直到目的地为止，沿途应经常检查方向读数。
4.已知目标的间隔，估测目标至站立点之间的距离：①通过照门和准星左右两尖端瞄准目标，根据目标的间隔所占准星左右两尖端间宽度的倍数，按10:1的比例公式估算目标的距离。
目标与站立点的距离（米）=目标间隔宽度（米）x10/目标间隔占准星两尖端宽度的倍数例：前方有一公路与我方阵地平行，求公路与阵地的距离。
沿公路有电杆，杆间距离为50米，用距离估定器测得左右两尖端有电杆5根，即每两杆间隔占左右两尖端间距离的1/4倍。
萝卜圈仿真 - 入门教程
版权所有 萝卜圈网络技术有限公司 保留所有权利。
萝卜圈 3D 机器人在线仿真平台入门教程 本入门教程以萝卜圈仿真客户端 1.5 版本进行说明。
目录
第一章 开始 ................................................................ 1 1.1 介绍.................................................................................................................................. 1 1.2 下载及安装萝卜圈.......................................................................................................... 2 1.3 注册萝卜圈账号.............................................................................................................. 2 1.4 登录.................................................................................................................................. 3 1.5 进入任务房间.................................................................................................................. 4
指南针P26841 操作指南说明书
Contact Blocks21AdapterLocating NibOperatorRatingsHazardous Location Class I Division 2 pushbuttons and indicat-ing lights include both the 10250T and E34 corrosion-resistant product lines. The 10250T1H (CBFS) factory-sealed contact blocks have one NO and one NC contact.For use on a flat surface of Type 1, 2, 3, 3S*, 3R, 4, 4X,12 and 13 enclosures.* Applies to indicating lights only.UL Listed and CSA Certified for Class I Division 2Groups B, C, D, and Class I Zone 2, Group IIB + H2.DEVICES10250T/E34 Pushbuttons and Indicating Lights Class I Division 2 Application and Installation InstructionsContact Ratings ............................................. A600, Q300Ingress Protection ..................................................... IP65T emperature Codes per NEC Table 500-5(d) for indicating lights and illuminated operators having a maximum tempera-ture over 100°C:10250T E34Temp. code 201H RB120H T3C 471H SB120H T3C 80H-T3C All selector switches with lamp 120MB T3C 202H RB240H T3A 472HSB240H T3B 81H-T3B All illuminated devices with lamp 1835T4ALENTILLEOperator And Adapter Assembly1. Assemble adapter to operator or light unit and torquemounting screws to 7 – 9.5 lb-in (0.8 – 1.07 Nm).2. Assemble contact block to adapter and torque mountingscrews to 12 – 16 lb-in (1.36 – 1.81 Nm). Contact block mounting location “1” is referenced to the panel locat-ing nib on operator. See illustrations.®IND. CONT. EQ.FOR HAZARDOUS LOCATIONS. A1622Instructional Leaflet P26841Effective July 201410250T/E34 Pushbuttons And Indicating LightsEATON Mounting1. Drill mounting hole for vertical or horizontal mount-ing per the matrix below and diagram to the right.2. Ensure sealing gasket is in place on the operator.Align locating nib on operator with notch in panel and insert through mounting hole. If notched hole is not desired, remove locating nib by placing a flat head screwdriver between nib and operator and prying outward. Note: When using protective boots, see special instruction publication 20437 for place-ment of sealing gasket.3. Place legend plate and mounting nut over operator.Tighten mounting nut securely (5 lb-ft / 6.8 Nm). 4. If applicable, assemble lenses, mushroom buttons,etc. to operator. Tighten selector switch set screw to 8 – 12 lb-in (0.9 – 1.35 Nm). Note: Ensure lens is securely tightened to provide oiltight and watertight seal.For ease of assembly, the following tools are recom-mended: 10250TA95 or E22CW for tighening octagonal nuts. 10250TA74 — lamp removal tool for transformertype light units. E30KV1 — lamp removal tool for full voltage light units.Mounting MatrixPanel Spacing And Drilling DrawingsLegend Dimensions in Inches (mm)Plate A B CDSmall 72.6 (2.87)57.2 (2.25)57.2 (2.25)72.6 (2.87)Jumbo72.6 (2.87)58.6 (2.32)58.6 (2.32)72.6 (2.87)Extra Large72.6 (2.87)65.2 (2.56)64.1 (2.52)72.6 (2.87)10250T/E34 Pushbuttons And Indicating Lights Instructional Leaflet P26841Effective July 2014 EATON Selector Switch Selection And Assembly — Refer T o Contact Block Selection Charts1. Select intended schematic circuit function. Note inyour “cam” column the type of contact (NO or NC), the “1” and “2” circuit locations, and any series orparallel jumper connections that may be required.2. Choose contact blocks that have the requiredschematic circuits and assemble in any convenientsequence that fulfills the “1” and “2” circuit location requirements.3. If applicable, assemble the operator cap.Recommended, set screw tightening torque forselector switches is 8 – 12 lb-in (0.9 – 1.35 Nm).4. The two sections of the operating cam work indepe-ndently. It is important that the contact blocks beoriented with their plungers in the correct “1” and“2” circuit locations. The drawing to the right identi-fies these positions with respect to the locating nib on operator or marked top.5. Assembled operators are factory set for VerticalMounting. For Horizontal Mounting, loosen the setscrew and assemble with the locating nib on the left. otee:N Circuits shown illustrate connections to obtain a selector circuit combination and are shown with their appropriate line dia-grams in BOLD. Field wiring of jumper connections are required as shown.Mounting Location Of Contact Blocks With Respect T o Operator Locating Nib.2-Position Selector SwitchNumber Desired Circuit and Cam Code #1Operator PositionContact Blocks andMounting Location121X O2O X4-Position Selector SwitchNo.Desired Circuit and Operator Position Cam Code #7Contact Blocks andMounting Location12 1X OO O2O X O O3O O X O4O O O X5X O O X6O X X O7O O X X8X X O O9O X O X10X O X ONC NCNO NOororNCNONONCNC (Parallel) NCNO (Parallel) NONO (Parallel) NCNC (Parallel) NONO/NC(Parallel)NO/NC(Parallel)t i u c r i Cn e pO=Ot i u c r i Cd e s o l C=X3-Position Selector SwitchNo.Desired Circuit and Cam Code #2Cam Code #3 Operator PositionContact Blocks and Contact Blocks andMounting Location Mounting Location12121X O O 2X X O 3X O X 4O O X 5O X X 6O X O NO (Series) NC NONC NCNO NO (Parallel) NONO NONC (Parallel) NO NCNC NC (Series) NC3Instructional Leaflet P26841Effective July 201410250T/E34 Pushbuttons And Indicating LightsEaton1000 Eaton Boulevard Cleveland, OH 44122United States © 1999 EatonAll Rights ReservedPublication No. P26841 / 004August 2014Eaton is a registered trademark.All other trademarks are property of their respective owners.ne p O t c a t n o C = O d e s o l C t c a t n o C = XPush-Pull Operators — Contact Block Selection And AssemblyThe illustration to the right assists in the selection of contact blocks. Symbols 1 and 2 show locations of contact circuits after assembly of contact blocks and adapter to the operator. The chart below shows the effects of the push and pull operations on either NO or NC contacts.Grounding Of 10250T And E34 Components General With any electrical component there is the possibility of a loose wire, moisture, etc. causing a short circuit between the component and ground. If the device is adequatelygrounded, the condition causes the protective fuse or circuit breaker to open and remove the potential. If not, an electri-cal hazard may remain unnoticed.Grounding Nibs — 10250TThe 10250T operator is designed to make direct metallic contact to the rear of the panel (with no intervening spacer washers to interfere with component-to-panel ground con-tinuity). As a further aid in establishing an electrical ground, the operator has four metal points (“grounding nibs”)designed to penetrate most paints or other protective coat-ings.Penetration of these nibs is dependent upon the torque applied to the mounting nut. Recommended torque is 5 ft-lbs (6.8 Nm). More or less may be necessary to penetrate the specific type and thickness of your panel coating. Test for continuity to ground after installation. If a short circuit to ground does occur, the fault should be corrected and the device replaced.Earth Ground T erminals — E34These devices are supplied with an integral earth/ground terminal. A 6-32 terminal screw will accommodate ring type terminations for bonding to international specifications.Earth T erminalNibs。
萝卜圈三维机器人教程
萝卜圈三维机器人教程日期：2012/4/28版本：1.3萝卜圈三维机器人在线仿真平台目录11.1 让我们飞 (1)1.2基本训练任务 (6)1.3体验跑道竞速 (16)1.4金字塔之旅 (18)192.1 迷宫灭火 (19)2.2迷宫灭火回家 (23)2.3 迷宫灭火搜救回家 (30)313.1汽车悬挂系统模拟及前轮转弯 (31)3.2体验极速快感 (40)3.3两轮摩托车的跑法 (42)第四章 3D434.1路线选择和基本跑法 (43)4.2 90度直角转弯——变形金刚？ (50)4.3手臂的模拟 (56)585.1三种基本跑法 (58)5.2爬绳索与过吊桥的结合跑法 (61)5.3石板桥与过吊桥的结合跑法 (62)第一章开始机器人的探索之旅第一章开始机器人的探索之旅————初步的构建及编程知识介绍初步的构建及编程知识介绍初步的构建及编程知识介绍同学们，你能想象出吗？在几千米深的大洋底部，机器人在连接或修复海底的电缆；在餐厅里，机器人侍者在为顾客提供优质服务；在医院的手术台前，机器人在为病人做开颅手术……这些并非科学幻想，它们正在或将要成为现实。
那么，目前世界上机器人技术发展到了什么样的水平，又在哪些领域得到了应用？现在，让我们萝卜圈的仿真机器人系统，了解机器人吧。
1.1让我们飞让我们飞很多同学都有自己的飞行梦，现实我们很难自由的构建自己的飞行器，现在我们通过萝卜圈的仿真系统来构建属于自己的飞行器吧！通过本节课的学习，你将能够： 初步掌握机器人构建的基本技巧初步掌握机器人构建的基本技巧。
初步掌握编程的基本方法以及通过任务场景欣赏自己的作品初步掌握编程的基本方法以及通过任务场景欣赏自己的作品。
一、机器人构建构建好之后，保存退出。
文件名：飞。
思考：1、为什么风扇叶左右不会碰撞的话，前后一定也不会碰撞？ 2、飞行器的构建首先要注意什么问题？ 3、为什么要反转电机？程序编写 写好之后，保存退出。
文件名：飞。
手机罗盘使用方法
手机罗盘使用方法
手机罗盘是一种通过手机应用程序来使用的罗盘工具。
下面是手机罗盘的使用方法：
1. 下载并安装罗盘应用：首先需要在手机应用商店中搜索并下载一个罗盘应用。
常见的罗盘应用包括“罗盘指南针”、“Compass”、“罗盘&指南针”等。
2. 打开应用程序：安装完毕后，点击应用图标打开罗盘应用程序。
3. 校准罗盘：打开应用程序后，应首先校准手机罗盘。
一般情况下，应用程序会提示你如何进行校准。
通常的校准方法是在手机上画几个数字“8”字形状，以调整罗盘的准确度。
4. 确定方向：校准完罗盘后，你可以用手机指向你感兴趣的方向，然后手机罗盘将显示当前方向的角度和方向指示。
5. 使用附加功能：一些手机罗盘应用程序还提供了一些额外的功能，如高度测量、经纬度坐标等。
你可以浏览应用程序的设置菜单，以确定这些功能是否可用以及如何使用它们。
请注意，手机罗盘的准确度可能会受到外部磁场的干扰。
使用手机罗盘时，应尽量避免靠近磁场强烈的物体，如大型电子设备、金属物体等。
另外，由于手机罗
盘使用的是内置的磁感应器，因此在某些手机上可能无法使用罗盘功能。
最后，确保你的手机处于正常工作状态，并且内置磁感应器没有受到损坏或其他问题。