{"id":849,"date":"2026-06-12T15:50:15","date_gmt":"2026-06-12T07:50:15","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/drive-by-wire-eps-steering-brake-arduino-control-part2-farsi\/"},"modified":"2026-06-12T15:50:16","modified_gmt":"2026-06-12T07:50:16","slug":"drive-by-wire-eps-steering-brake-arduino-control-part2-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/drive-by-wire-eps-steering-brake-arduino-control-part2-farsi\/","title":{"rendered":"Drive-By-Wire: \u06a9\u0646\u062a\u0631\u0644 \u0641\u0631\u0645\u0627\u0646 EPS \u0648 \u062a\u0631\u0645\u0632 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 (\u0628\u062e\u0634 \u06f2) (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nDrive-By-Wire EPS \u0641\u0631\u0645\u0627\u0646 \u062a\u0631\u0645\u0632 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0627\u06cc\u0645\u0646\u06cc\n<\/div>\n
\n⚠️ \u0647\u0634\u062f\u0627\u0631 \u0627\u06cc\u0645\u0646\u06cc:<\/strong> \u0647\u0645\u06cc\u0634\u0647 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 Watchdog \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634 \u06a9\u0647 \u062f\u0631 \u0635\u0648\u0631\u062a \u0642\u0637\u0639 \u0627\u0631\u062a\u0628\u0627\u0637 \u0628\u0644\u0627\u0641\u0627\u0635\u0644\u0647 \u062a\u0631\u0645\u0632 \u06a9\u0646\u062f. \u0647\u0645\u06cc\u0634\u0647 \u06cc\u06a9 \u0646\u0641\u0631 \u062f\u0631 \u06a9\u0646\u0627\u0631 \u0645\u0627\u0634\u06cc\u0646 \u0628\u0627 \u06a9\u0644\u06cc\u062f \u062e\u0627\u0645\u0648\u0634\u200c\u06a9\u0646\u0646\u062f\u0647 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc \u0628\u0627\u0634\u062f.\n<\/div>\n
\n📌 \u0628\u062e\u0634 \u06f1\/\u06f2:<\/strong> \u0645\u06a9\u0627\u0646\u06cc\u06a9 ✅  |  📌 \u0628\u062e\u0634 \u06f2\/\u06f2 (\u0647\u0645\u06cc\u0646):<\/strong> \u0627\u0644\u06a9\u062a\u0631\u0648\u0646\u06cc\u06a9\u060c \u06a9\u062f\u060c \u0627\u06cc\u0645\u0646\u06cc\n<\/div>\n
\n

\u0647\u06a9 EPS \u2014 \u0627\u0631\u0633\u0627\u0644 \u0641\u0631\u0645\u0627\u0646 \u06af\u0634\u062a\u0627\u0648\u0631<\/h2>\n

\u0633\u06cc\u0633\u062a\u0645 EPS \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0627\u0632 \u06cc\u06a9 \u062d\u0633\u06af\u0631 \u06af\u0634\u062a\u0627\u0648\u0631 \u0641\u0631\u0645\u0627\u0646 (Torque Sensor) \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0648\u0642\u062a\u06cc \u06af\u0634\u062a\u0627\u0648\u0631 \u0628\u0647 \u0641\u0631\u0645\u0627\u0646 \u0627\u0639\u0645\u0627\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f\u060c ECU EPS \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0645\u06cc\u200c\u0686\u0631\u062e\u0627\u0646\u062f. \u0628\u0627 \u062a\u0632\u0631\u06cc\u0642 \u0633\u06cc\u06af\u0646\u0627\u0644 \u0648\u0644\u062a\u0627\u0698 \u0634\u0628\u06cc\u0647\u200c\u0633\u0627\u0632\u06cc\u200c\u0634\u062f\u0647 \u0627\u0632 Torque Sensor \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0641\u0631\u0645\u0627\u0646 \u0631\u0627 \u0627\u0632 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0631\u062f. \u0627\u06cc\u0646 \u0631\u0648\u0634 \u062f\u0631 \u067e\u0631\u0648\u0698\u0647\u200c\u0647\u0627\u06cc \u0645\u062a\u0646\u200c\u0628\u0627\u0632 \u0645\u062b\u0644 openpilot<\/strong> \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<\/div>\n

\u06a9\u0646\u062a\u0631\u0644 \u062a\u0631\u0645\u0632 \u0628\u0627 \u0633\u0631\u0648 \u062e\u0637\u06cc (\u0633\u0627\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 \u0631\u0648\u0634)<\/h2>\n
#include <Servo.h>\nServo brakeSrv;  \/\/ \u0633\u0631\u0648 \u062e\u0637\u06cc Linear Actuator \u06cc\u0627 \u0633\u0631\u0648 \u0642\u0648\u06cc MG996R\n\n\/\/ \u0628\u0631\u0627\u06a9\u062a \u0633\u0631\u0648 \u0631\u0648\u06cc \u067e\u062f\u0627\u0644 \u062a\u0631\u0645\u0632 \u2014 \u0646\u0628\u0627\u06cc\u062f \u0644\u0646\u06af\u0631 \u0631\u0648\u06cc \u067e\u062f\u0627\u0644 \u06a9\u062c \u0628\u0627\u0634\u062f\nconst int BRAKE_RELEASED = 0;   \/\/ \u062f\u0631\u062c\u0647 \u2014 \u0628\u062f\u0648\u0646 \u062a\u0631\u0645\u0632\nconst int BRAKE_FULL = 45;      \/\/ \u062f\u0631\u062c\u0647 \u2014 \u062a\u0631\u0645\u0632 \u06a9\u0627\u0645\u0644\n\nvoid brakeApply(int percent){   \/\/ 0\u2013100\n  int angle = map(percent, 0,100, BRAKE_RELEASED, BRAKE_FULL);\n  brakeSrv.write(angle);\n}\n\n\/\/ \u062a\u0631\u0645\u0632 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc \u2014 \u0647\u0645\u06cc\u0634\u0647 \u062f\u0631 setup \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\nvoid emergencyBrake(){\n  brakeSrv.write(BRAKE_FULL);\n  setThrottle(0);\n}<\/code><\/pre>\n
\u0633\u06cc\u0633\u062a\u0645 Watchdog \u2014 \u0642\u0637\u0639 \u0627\u0631\u062a\u0628\u0627\u0637 = \u062a\u0648\u0642\u0641<\/h2>\n
unsigned long lastHeartbeat = 0;\nconst unsigned long WATCHDOG_TIMEOUT = 500;  \/\/ ms\n\nvoid loop(){\n  \/\/ \u062f\u0631\u06cc\u0627\u0641\u062a heartbeat \u0627\u0632 GCS\n  int pkt = LoRa.parsePacket();\n  if(pkt > 0){\n    char cmd = (char)LoRa.read();\n    lastHeartbeat = millis();\n    if(cmd == 'E') emergencyBrake();\n    \/\/ \u0633\u0627\u06cc\u0631 \u062f\u0633\u062a\u0648\u0631\u0647\u0627...\n  }\n\n  \/\/ Watchdog\n  if(millis() - lastHeartbeat > WATCHDOG_TIMEOUT){\n    emergencyBrake();  \/\/ \u0647\u0631 \u06f5\u06f0\u06f0ms \u0628\u062f\u0648\u0646 \u0627\u0631\u062a\u0628\u0627\u0637 = \u062a\u0648\u0642\u0641\n  }\n}\n\n\/\/ Watchdog Timer \u0633\u062e\u062a\u200c\u0627\u0641\u0632\u0627\u0631\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n#include <avr\/wdt.h>\nvoid setup(){\n  wdt_enable(WDTO_500MS);  \/\/ \u0631\u06cc\u200c\u0633\u062a \u0627\u06af\u0631 \u06f5\u06f0\u06f0ms loop \u0627\u062c\u0631\u0627 \u0646\u0634\u062f\n}\nvoid loop(){\n  wdt_reset();  \/\/ \u0647\u0631 \u062f\u0648\u0631 \u0644\u0648\u067e \u0631\u06cc\u200c\u0633\u062a \u062a\u0627\u06cc\u0645\u0631\n  \/\/ ...\n}<\/code><\/pre>\n
\u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u0627\u06cc\u0645\u0646\u06cc Drive-By-Wire<\/h2>\n\n\n\n\n\n\n\n\n\n
\u0622\u06cc\u062a\u0645<\/th>\n\u2713<\/th>\n<\/tr>\n<\/thead>\n
\u06a9\u0644\u06cc\u062f kill switch \u0627\u0636\u0637\u0631\u0627\u0631\u06cc \u0641\u06cc\u0632\u06cc\u06a9\u06cc<\/td>\n⬜<\/td>\n<\/tr>\n
Watchdog timeout \u2264 500ms<\/td>\n⬜<\/td>\n<\/tr>\n
Geofence \u062a\u0639\u0631\u06cc\u0641\u200c\u0634\u062f\u0647<\/td>\n⬜<\/td>\n<\/tr>\n
\u0633\u0631\u0639\u062a \u0645\u062d\u062f\u0648\u062f \u0628\u0647 \u06f5km\/h \u062f\u0631 \u062a\u0633\u062a \u0627\u0648\u0644<\/td>\n⬜<\/td>\n<\/tr>\n
\u0646\u0641\u0631 \u06a9\u0646\u062a\u0631\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 \u062f\u0633\u062a\u06cc \u0647\u0645\u0631\u0627\u0647 \u0645\u0627\u0634\u06cc\u0646<\/td>\n⬜<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
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