20.500.12556/RUL-187258 Krmilnik za simulacijo vožnje s povratno silo na osnovi razvojne plošče MiŠKo3 Force-feedback driving simulation controller based on the MiŠKo3 development board Diplomsko delo obravnava razvoj krmilnika za simulacijo vožnje s povratno silo, izdelanega na osnovi razvojne plošče MiŠKo3 z mikrokrmilnikom STM32G474. Pri povratni sili volan ni le vhodna naprava, saj motor v volanski enoti glede na dogajanje v igri ustvarja navor, ki ga voznik čuti v rokah. Komercialni volani z neposrednim pogonom so na trgu široko dostopni, vendar jih je mogoče nastavljati in nadgrajevati le v mejah, ki jih dopušča proizvajalec, cena celotne postavitve z volanskim obročem, stopalkami in nosilcem pa se hitro približa tisoč evrom. Cilj naloge je bil zasnovati, izdelati in preizkusiti napravo, ki jo računalnik brez namestitve gonilnikov prepozna kot igralni volan s povratno silo obenem pa predstavlja cenovno ugodnejšo rešitev. Naprava je izvedena kot naprava USB HID z vgrajenim razredom naprav s fizičnim vmesnikom (PID, ang. Physical Interface Device), preko katerega igra pošilja opise sil, krmilnik pa jih pretvori v krmilni tok motorja. Vgrajena programska oprema je razvita v okolju STM32CubeIDE s knjižnico HAL, uporabniški vmesnik na zaslonu na dotik pa z grafično knjižnico LVGL in orodjem EEZ Studio. Mehanski deli so modelirani v okolju SolidWorks in izdelani s 3D-tiskom iz materiala PETG. Krmilnik računalniku pošilja stanje sedmih osi in petnajstih tipk s hitrostjo poročanja do 1000 Hz. Zasuk volanskega obroča meri inkrementalni dajalnik, položaje ostalih osi merijo potenciometri, z izjemo zavore, ki uporablja merilno celico in A/D pretvornik NAU7802. Vse nastavitve krmilnika je mogoče spreminjati na uporabniškem vmesniku in so trajno shranjene v bliskovnem pomnilniku. Motor poganja krmilnik VESC, ki zahtevani tok prejme prek povezave UART. This thesis presents the development of a force feedback controller for driving simulation, built around the MiŠKo3 development board with an STM32G474 microcontroller. With force feedback, the steering wheel is not merely an input device: a motor in the wheelbase generates torque according to events in the game, which the driver feels through the wheel. Commercial direct drive wheels are widely available, but they can only be configured and upgraded within the limits set by the manufacturer, and the price of a complete setup with a steering wheel rim, pedals and a mounting rig quickly approaches one thousand euros. The aim of the thesis was to design, build and test a device that a computer recognises as a force feedback gaming wheel without the installation of any drivers, while at the same time offering a more affordable solution. The device is implemented as a USB HID device incorporating the Physical Interface Device (PID) class, through which the game transmits force descriptions that the controller converts into a motor control current. The firmware was developed in the STM32CubeIDE environment using the HAL library, while the touchscreen user interface was built with the LVGL graphics library and the EEZ Studio tool. The mechanical parts were modelled in SolidWorks and manufactured by 3D printing from PETG. The controller reports the state of seven axes and fifteen buttons to the computer at a report rate of up to 1000 Hz. The rotation of the steering wheel rim is measured by an incremental encoder and the positions of the remaining axes by potentiometers, with the exception of the brake, which uses a load cell and a NAU7802 analog-to-digital converter. All controller settings can be adjusted through the user interface and are stored permanently in flash memory. The motor is driven by a VESC controller, which receives the requested current over a UART link. igralni volan povratna sila USB HID razred PID MiŠKo3 STM32G474 VESC vgrajeni sistem gaming wheel force feedback USB HID PID class MiŠKo3 STM32G474 VESC embedded system true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2026-09-09 13:45:01 2026-09-09 13:45:06 2026-09-21 11:41:59 0000-00-00 00:00:00 2026 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 63447 291786499 Burja_Ziga_-_Krmilnik_za_simulacijo_voznje_s_povratno_silo_na_osnovi_razvojne_plosce_MiSKo3.pdf Burja_Ziga_-_Krmilnik_za_simulacijo_voznje_s_povratno_silo_na_osnovi_razvojne_plosce_MiSKo3.pdf 1 B2B3FD082157E544C11D38E97E488B7F f7980124380feaee8f23caa3aa9daab3e86820efeb98e99e61429422ca4aefd8 e13fbe37-ac43-11f1-8bc5-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=246796 Fakulteta za elektrotehniko 0 0 0