{"id":608,"date":"2026-06-11T13:28:05","date_gmt":"2026-06-11T05:28:05","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/gesture-glove-ugv-control-mpu6050-lora-433mhz-farsi\/"},"modified":"2026-06-11T13:28:06","modified_gmt":"2026-06-11T05:28:06","slug":"gesture-glove-ugv-control-mpu6050-lora-433mhz-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/gesture-glove-ugv-control-mpu6050-lora-433mhz-farsi\/","title":{"rendered":"\u06a9\u0646\u062a\u0631\u0644 UGV \u0628\u0627 \u062f\u0633\u062a\u06a9\u0634 \u062d\u0631\u06a9\u062a\u06cc: MPU-6050 \u0631\u0648\u06cc \u062f\u0633\u062a + Sub-GHz LoRa 433MHz (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u062f\u0633\u062a\u06a9\u0634 \u06a9\u0646\u062a\u0631\u0644 UGV MPU-6050 LoRa 433MHz\n<\/div>\n
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\u062f\u0633\u062a\u06a9\u0634 \u06a9\u0646\u062a\u0631\u0644 \u062d\u0631\u06a9\u062a\u06cc \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0628\u0647 \u062c\u0627\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 \u06cc\u0627 \u062f\u06a9\u0645\u0647\u060c \u062f\u0631 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u062d\u0631\u06a9\u062a \u062f\u0633\u062a \u0634\u0645\u0627 \u0645\u0633\u062a\u0642\u06cc\u0645\u0627\u064b UGV \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u06cc\u06a9 MPU-6050<\/strong> \u0631\u0648\u06cc \u062f\u0633\u062a\u06a9\u0634 \u0646\u0635\u0628 \u0645\u06cc\u200c\u0634\u0648\u062f \u0648 \u0632\u0627\u0648\u06cc\u0647 \u06a9\u062c \u0634\u062f\u0646 \u062f\u0633\u062a \u0631\u0627 \u0627\u0646\u062f\u0627\u0632\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f. \u0627\u06cc\u0646 \u0632\u0627\u0648\u06cc\u0647 \u0628\u0627 LoRa SX1278<\/strong> (\u0645\u0627\u0698\u0648\u0644 \u0632\u06cc\u0631 \u06f1\u06f0 \u062f\u0644\u0627\u0631\u060c \u0628\u0631\u062f \u062a\u0627 \u06f1km) \u0628\u0647 \u06af\u06cc\u0631\u0646\u062f\u0647 \u0631\u0648\u06cc UGV \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

\u062f\u0633\u062a \u0631\u0627 \u062c\u0644\u0648 \u06a9\u062c \u06a9\u0646\u06cc\u062f \u2192 UGV \u062c\u0644\u0648 \u0645\u06cc\u200c\u0631\u0648\u062f. \u0686\u067e \u06a9\u062c \u06a9\u0646\u06cc\u062f \u2192 UGV \u0686\u067e \u0645\u06cc\u200c\u0631\u0648\u062f. \u0635\u0627\u0641 \u0646\u06af\u0647 \u062f\u0627\u0631\u06cc\u062f \u2192 \u062a\u0648\u0642\u0641. \u0627\u06cc\u0646 \u06a9\u0646\u062a\u0631\u0644 \u0628\u0633\u06cc\u0627\u0631 \u0634\u0647\u0648\u062f\u06cc \u0627\u0633\u062a \u0648 \u0628\u062f\u0648\u0646 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062f\u06a9\u0645\u0647\u200c\u0647\u0627 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<\/div>\n

\n

\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 \u062f\u0633\u062a\u06a9\u0634 \u06a9\u0646\u062a\u0631\u0644 UGV \u0628\u0627 LoRa \u0628\u06cc\u200c\u0633\u06cc\u0645 \u2014 \u06a9\u0646\u062a\u0631\u0644 \u0628\u0627 \u062d\u0631\u06a9\u062a \u062f\u0633\u062a.<\/p>\n

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  • \u0647\u0632\u06cc\u0646\u0647 TX:<\/strong> MPU-6050 + Arduino + SX1278 = \u06f2\u06f0 \u062f\u0644\u0627\u0631<\/li>\n
  • \u0628\u0631\u062f:<\/strong> \u06f5\u06f0\u06f0m-\u06f1km<\/li>\n
  • \u062a\u0623\u062e\u06cc\u0631:<\/strong> \u0632\u06cc\u0631 \u06f5\u06f0ms<\/li>\n<\/ul>\n<\/div>\n

    \n\n\u062f\u0633\u062a\u06a9\u0634 TX<\/text>\nMPU-6050+Arduino<\/text>\nSX1278 LoRa 433<\/text>\n\n433MHz<\/text>\n\u06f1km<\/text>\n\nUGV RX<\/text>\nArduino+SX1278<\/text>\nL298N \u0645\u0648\u062a\u0648\u0631<\/text>\n\u062f\u0633\u062a\u06a9\u0634 \u2192 LoRa 433MHz \u2192 UGV\u060c \u06a9\u0646\u062a\u0631\u0644 \u0628\u0627 \u062f\u0633\u062a<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f TX \u2014 \u062f\u0633\u062a\u06a9\u0634<\/h2>\n
    \n#include <LoRa.h>\n#include <Wire.h>\n#include <MPU6050.h>\n\nMPU6050 mpu;\n\nvoid setup() {\n  Wire.begin();\n  mpu.initialize();\n  LoRa.begin(433.175E6);\n  LoRa.setSpreadingFactor(7);   \/\/ SF7 \u0628\u0631\u0627\u06cc \u062a\u0623\u062e\u06cc\u0631 \u06a9\u0645\n  LoRa.setSignalBandwidth(250E3); \/\/ BW250 \u0633\u0631\u06cc\u0639\u200c\u062a\u0631\n  LoRa.setTxPower(17);\n}\n\nvoid loop() {\n  int16_t ax,ay,az,gx,gy,gz;\n  mpu.getMotion6(&ax,&ay,&az,&gx,&gy,&gz);\n\n  \/\/ \u0632\u0627\u0648\u06cc\u0647 Pitch (\u062c\u0644\u0648\/\u0639\u0642\u0628) \u0648 Roll (\u0686\u067e\/\u0631\u0627\u0633\u062a):\n  float pitch = atan2(-ax, sqrt((long)ay*ay+(long)az*az)) * 180\/M_PI;\n  float roll  = atan2(ay, az) * 180\/M_PI;\n\n  \/\/ \u062a\u0628\u062f\u06cc\u0644 \u0628\u0647 \u0641\u0631\u0645\u0627\u0646:\n  char cmd = 'S';\n  if(pitch < -15)     cmd = 'F';  \/\/ \u062c\u0644\u0648\n  else if(pitch > 15) cmd = 'B';  \/\/ \u0639\u0642\u0628\n  else if(roll < -20) cmd = 'L';  \/\/ \u0686\u067e\n  else if(roll > 20)  cmd = 'R';  \/\/ \u0631\u0627\u0633\u062a\n\n  LoRa.beginPacket();\n  LoRa.write(cmd);\n  LoRa.write((int8_t)constrain(abs(pitch),0,90));  \/\/ \u0633\u0631\u0639\u062a\n  LoRa.endPacket();\n  delay(50);  \/\/ 20Hz\n}\n<\/code><\/pre>\n
    \u06a9\u062f RX \u2014 UGV<\/h2>\n
    \n#include <LoRa.h>\n\nconst int L_F=6,L_B=7,R_F=8,R_B=9;\nconst int ENA=10, ENB=11;\nunsigned long lastCmd;\n\nvoid setup() {\n  LoRa.begin(433.175E6);\n  LoRa.setSpreadingFactor(7);\n  LoRa.setSignalBandwidth(250E3);\n  int pins[]={L_F,L_B,R_F,R_B};\n  for(int p:pins) { pinMode(p,OUTPUT); }\n  pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT);\n}\n\nvoid loop() {\n  int sz = LoRa.parsePacket();\n  if(sz >= 2) {\n    char cmd = LoRa.read();\n    int spd = map(LoRa.read(), 0, 90, 100, 255);\n    lastCmd = millis();\n    analogWrite(ENA, spd); analogWrite(ENB, spd);\n    if(cmd=='F') { digitalWrite(L_F,1);digitalWrite(L_B,0);digitalWrite(R_F,1);digitalWrite(R_B,0); }\n    else if(cmd=='B') { digitalWrite(L_F,0);digitalWrite(L_B,1);digitalWrite(R_F,0);digitalWrite(R_B,1); }\n    else if(cmd=='L') { digitalWrite(L_F,0);digitalWrite(L_B,1);digitalWrite(R_F,1);digitalWrite(R_B,0); }\n    else if(cmd=='R') { digitalWrite(L_F,1);digitalWrite(L_B,0);digitalWrite(R_F,0);digitalWrite(R_B,1); }\n    else { digitalWrite(L_F,0);digitalWrite(L_B,0);digitalWrite(R_F,0);digitalWrite(R_B,0); }\n  }\n  \/\/ Failsafe\n  if(millis()-lastCmd > 300) { digitalWrite(L_F,0);digitalWrite(L_B,0);digitalWrite(R_F,0);digitalWrite(R_B,0); }\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    \u062f\u0633\u062a \u0631\u0627 \u06f1\u06f5\u00b0 \u062c\u0644\u0648 \u2192 UGV \u062c\u0644\u0648\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n
    \u062f\u0633\u062a \u0635\u0627\u0641 \u2192 \u062a\u0648\u0642\u0641\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n
    Failsafe \u062f\u0631 \u06f3\u06f0\u06f0ms \u062a\u0648\u0642\u0641\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n
    \u062f\u0631 \u06f1\u06f0\u06f0 \u0645\u062a\u0631 \u0641\u0627\u0635\u0644\u0647 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nMPU-6050<\/text>\n\u062f\u0633\u062a\u06a9\u0634<\/text>\nSX1278 LoRa<\/text>\nSF7 BW250<\/text>\nUGV Arduino<\/text>\nL298N \u0645\u0648\u062a\u0648\u0631<\/text>\nFailsafe<\/text>\n\u06f3\u06f0\u06f0ms<\/text>\n\u062f\u0633\u062a\u06a9\u0634 MPU-6050 \u2192 LoRa 433 \u2192 UGV \u2014 \u06a9\u0646\u062a\u0631\u0644 \u0637\u0628\u06cc\u0639\u06cc \u062f\u0633\u062a<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n