{"id":785,"date":"2026-06-12T15:20:50","date_gmt":"2026-06-12T07:20:50","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ugv-stepper-motor-precise-navigation-indoor-no-gps-farsi\/"},"modified":"2026-06-12T15:20:51","modified_gmt":"2026-06-12T07:20:51","slug":"ugv-stepper-motor-precise-navigation-indoor-no-gps-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ugv-stepper-motor-precise-navigation-indoor-no-gps-farsi\/","title":{"rendered":"UGV \u0628\u0627 \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc \u067e\u0644\u0647\u200c\u0627\u06cc \u2014 \u0646\u0627\u0648\u0628\u0631\u06cc \u062f\u0642\u06cc\u0642 \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0633\u062a\u0647 \u0628\u062f\u0648\u0646 GPS (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nUGV \u0645\u0648\u062a\u0648\u0631 \u067e\u0644\u0647\u200c\u0627\u06cc NEMA17 Odometry\n<\/div>\n
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Odometry \u0686\u06cc\u0633\u062a\u061f \u0646\u0627\u0648\u0628\u0631\u06cc \u0628\u062f\u0648\u0646 GPS<\/h2>\n

Odometry<\/strong> (\u06a9\u06cc\u0644\u0648\u0645\u062a\u0631\u0634\u0645\u0627\u0631) \u0631\u0648\u0634\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627 \u0634\u0645\u0627\u0631\u0634 \u062a\u0639\u062f\u0627\u062f \u062f\u0648\u0631\u0647\u0627\u06cc \u0686\u0631\u062e\u060c \u0645\u0648\u0642\u0639\u06cc\u062a \u0631\u0628\u0627\u062a \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0645\u0648\u062a\u0648\u0631 \u067e\u0644\u0647\u200c\u0627\u06cc \u0627\u06cc\u062f\u0647\u200c\u0622\u0644 \u0627\u0633\u062a \u0686\u0648\u0646 \u0647\u0631 \u067e\u0627\u0644\u0633 = \u06cc\u06a9 \u0642\u062f\u0645 \u062f\u0642\u06cc\u0642 (\u06f1.\u06f8\u00b0) \u2014 \u0628\u062f\u0648\u0646 encoder \u0645\u0648\u0642\u0639\u06cc\u062a \u062f\u0642\u06cc\u0642 \u062f\u0627\u0631\u06cc\u0645. Dead Reckoning<\/strong> \u06cc\u0639\u0646\u06cc \u0628\u0627 \u062f\u0627\u0646\u0633\u062a\u0646 \u0646\u0642\u0637\u0647 \u0634\u0631\u0648\u0639 + \u0642\u062f\u0645\u200c\u0647\u0627\u06cc \u0632\u062f\u0647\u200c\u0634\u062f\u0647\u060c \u0645\u0648\u0642\u0639\u06cc\u062a \u0641\u0639\u0644\u06cc \u0631\u0627 \u0645\u06cc\u200c\u062f\u0627\u0646\u06cc\u0645.<\/p>\n

\u0645\u062d\u062f\u0648\u062f\u06cc\u062a: \u062e\u0637\u0627\u0647\u0627 \u062c\u0645\u0639 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f \u2014 \u062f\u0631 \u0645\u0633\u0627\u0641\u062a\u200c\u0647\u0627\u06cc \u0637\u0648\u0644\u0627\u0646\u06cc drift \u062f\u0627\u0631\u062f. \u0628\u0631\u0627\u06cc \u062f\u0627\u062e\u0644 \u0633\u0627\u062e\u062a\u0645\u0627\u0646 \u062a\u0627 \u06f2\u06f0\u2013\u06f5\u06f0 \u0645\u062a\u0631 \u06a9\u0627\u0641\u06cc \u0627\u0633\u062a.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
\u062f\u0642\u062a \u0645\u0648\u0642\u0639\u06cc\u062a<\/td>\n~\u00b1\u06f5mm \u062f\u0631 \u06f2 \u0645\u062a\u0631 (\u0628\u0627 microstep 1\/16)<\/td>\n<\/tr>\n
\u0628\u0648\u062f\u062c\u0647<\/td>\n~\u06f6\u06f0\u06f0K (NEMA17 \u00d7 \u06f2 + A4988 \u00d7 \u06f2)<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0645\u062d\u0627\u0633\u0628\u0627\u062a Odometry<\/h2>\n\n\n\n\n\n\n\n\n\n
\u067e\u0627\u0631\u0627\u0645\u062a\u0631<\/th>\n\u0645\u0642\u062f\u0627\u0631<\/th>\n\u0641\u0631\u0645\u0648\u0644<\/th>\n<\/tr>\n<\/thead>\n
\u0642\u0637\u0631 \u0686\u0631\u062e<\/td>\n\u06f1\u06f0\u06f0mm<\/td>\n\u2014<\/td>\n<\/tr>\n
\u0645\u062d\u06cc\u0637 \u0686\u0631\u062e<\/td>\n\u06f3\u06f1\u06f4.\u06f1mm<\/td>\n\u03c0 \u00d7 d<\/td>\n<\/tr>\n
\u0642\u062f\u0645 \u062f\u0631 \u0647\u0631 \u062f\u0648\u0631 (1\/16 step)<\/td>\n\u06f3\u06f2\u06f0\u06f0<\/td>\n200 \u00d7 16<\/td>\n<\/tr>\n
mm \u062f\u0631 \u0647\u0631 \u0642\u062f\u0645<\/td>\n\u06f0.\u06f0\u06f9\u06f8mm<\/td>\n\u06f3\u06f1\u06f4.\u06f1 \/ \u06f3\u06f2\u06f0\u06f0<\/td>\n<\/tr>\n
\u0642\u062f\u0645 \u0628\u0631\u0627\u06cc \u06f1\u06f0\u06f0\u06f0mm<\/td>\n\u06f1\u06f0\u06f1\u06f9\u06f8 \u0642\u062f\u0645<\/td>\n\u06f1\u06f0\u06f0\u06f0 \/ \u06f0.\u06f0\u06f9\u06f8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u06a9\u062f \u062d\u0631\u06a9\u062a \u0628\u0647 \u0645\u062e\u062a\u0635\u0627\u062a<\/h2>\n
#define STEP_L 3\n#define DIR_L  4\n#define STEP_R 5\n#define DIR_R  6\n\nconst float MM_PER_STEP = 0.098;  \/\/ mm\/\u0642\u062f\u0645 \u0628\u0627 1\/16 microstep\nconst float WHEEL_BASE  = 200.0;  \/\/ mm \u0628\u06cc\u0646 \u062f\u0648 \u0686\u0631\u062e\n\nfloat posX=0, posY=0, heading=0;  \/\/ mm, mm, degrees\n\nvoid stepBoth(long stepsL, long stepsR, int delayUs=800){\n  long maxSteps = max(abs(stepsL), abs(stepsR));\n  for(long i=0; i0?HIGH:LOW);\n      digitalWrite(STEP_L,HIGH); delayMicroseconds(delayUs\/2);\n      digitalWrite(STEP_L,LOW);\n    }\n    if(i0?HIGH:LOW);\n      digitalWrite(STEP_R,HIGH); delayMicroseconds(delayUs\/2);\n      digitalWrite(STEP_R,LOW);\n    }\n    delayMicroseconds(delayUs\/2);\n  }\n}\n\nvoid moveMM(float dist){\n  long steps = (long)(dist\/MM_PER_STEP);\n  stepBoth(steps,steps);\n  posX += dist*cos(heading*PI\/180);\n  posY += dist*sin(heading*PI\/180);\n}\n\nvoid turnDeg(float deg){\n  float arc = (deg\/360.0)*PI*WHEEL_BASE;\n  long steps = (long)(arc\/MM_PER_STEP);\n  stepBoth(steps,-steps);  \/\/ \u0686\u067e \u062c\u0644\u0648\u060c \u0631\u0627\u0633\u062a \u0639\u0642\u0628 = \u0686\u0631\u062e\u0634 \u0686\u067e\n  heading += deg;\n}<\/code><\/pre>\n
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