{"id":4128,"date":"2021-05-17T21:21:29","date_gmt":"2021-05-17T21:21:29","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=4128"},"modified":"2021-05-17T21:26:04","modified_gmt":"2021-05-17T21:26:04","slug":"tanquino-pi","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/tanquino-pi\/","title":{"rendered":"Tanquino Pi"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Autor<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Juli\u00e1n S\u00e1nchez Fern\u00e1ndez<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Idea<\/h2>\n\n\n\n<p>Para el proyecto final de la asignatura de Sistemas Empotrados y de Tiempo Real me he inspirado en el juego arcade \u00abTank Force\u00bb, que public\u00f3 la empresa namco en 1991. De manera muy resumida, el juego consiste en controlar un tanque a trav\u00e9s de una ciudad y eliminar los tanques enemigos mientras evitas que disparen a tu tanque o destruyan la base.<\/p>\n\n\n\n<table><tbody><tr><td>\n<figure class=\"wp-block-image size-large is-resized\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/image-52.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/image-52.png\" alt=\"\" class=\"wp-image-4129\" width=\"503\" height=\"379\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/image-52.png 503w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/image-52-300x226.png 300w\" sizes=\"auto, (max-width: 503px) 100vw, 503px\" \/><\/a><figcaption>Pantalla principal del juego<\/figcaption><\/figure>\n<\/td><td>\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/image-59.png\"><img loading=\"lazy\" decoding=\"async\" width=\"487\" height=\"379\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/image-59.png\" alt=\"\" class=\"wp-image-4130\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/image-59.png 487w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/image-59-300x233.png 300w\" sizes=\"auto, (max-width: 487px) 100vw, 487px\" \/><\/a><figcaption>Fotograma del juego<\/figcaption><\/figure>\n<\/td><\/tr><\/tbody><\/table>\n\n\n\n<p>El objetivo es construir un veh\u00edculo terrestre que se parezca lo m\u00e1ximo posible a un tanque (al menos en la forma de moverse), tan peque\u00f1o como sea posible y que adem\u00e1s de poder controlarse a trav\u00e9s de WiFi, disponga de una c\u00e1mara en primera persona que retransmita lo que \u00abve\u00bb el tanque y pueda interactuar con otras r\u00e9plicas mediante \u00abdisparos\u00bb de luz infrarroja.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Materiales<\/h2>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Elemento<\/strong><\/td><td class=\"has-text-align-right\" data-align=\"right\"><strong>Precio<\/strong><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Raspberry Pi Zero W<\/td><td class=\"has-text-align-right\" data-align=\"right\">10\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Tarjeta microSD 16Gb<\/td><td class=\"has-text-align-right\" data-align=\"right\">8\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">NodeMCU (clon)<\/td><td class=\"has-text-align-right\" data-align=\"right\">3,5\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">LED Infrarrojo<\/td><td class=\"has-text-align-right\" data-align=\"right\">0,33\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Receptor infrarrojos<\/td><td class=\"has-text-align-right\" data-align=\"right\">0,5\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Resistencias varias<\/td><td class=\"has-text-align-right\" data-align=\"right\">0,1\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">1m de cable<\/td><td class=\"has-text-align-right\" data-align=\"right\">0,2\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Conectores USB (2 micro y 1 normal)<\/td><td class=\"has-text-align-right\" data-align=\"right\">2\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Motores (x4)<\/td><td class=\"has-text-align-right\" data-align=\"right\">7\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Modulo de c\u00e1mara para Raspberry Pi<\/td><td class=\"has-text-align-right\" data-align=\"right\">12\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Torniller\u00eda varia (m\u00e9trica 3)<\/td><td class=\"has-text-align-right\" data-align=\"right\">8\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Rollo de pl\u00e1stico ABS 1.75mm (1Kg)<\/td><td class=\"has-text-align-right\" data-align=\"right\">14\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">M\u00f3dulo L298N<\/td><td class=\"has-text-align-right\" data-align=\"right\">3\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Esta\u00f1o<\/td><td class=\"has-text-align-right\" data-align=\"right\">6\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><em>TOTAL<\/em><\/td><td class=\"has-text-align-right\" data-align=\"right\"><strong><em>74,63\u20ac<\/em><\/strong><\/td><\/tr><\/tbody><\/table><figcaption>Precios de los materiales empleados<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Herramientas<\/h2>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Herramienta<\/strong><\/td><td class=\"has-text-align-right\" data-align=\"right\"><strong>Precio<\/strong><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Impresora 3D (Creality Ender 3 pro)<\/td><td class=\"has-text-align-right\" data-align=\"right\">250\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Soldador de esta\u00f1o<\/td><td class=\"has-text-align-right\" data-align=\"right\">15\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Powerbank (salida &gt; 1A)<\/td><td class=\"has-text-align-right\" data-align=\"right\">17\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Calibre digital (solo necesario para dise\u00f1o)<\/td><td class=\"has-text-align-right\" data-align=\"right\">10\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Conversor UART &lt;-&gt; USB<\/td><td class=\"has-text-align-right\" data-align=\"right\">5\u20ac<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">TOTAL<\/td><td class=\"has-text-align-right\" data-align=\"right\"><strong><em>297\u20ac<\/em><\/strong><\/td><\/tr><\/tbody><\/table><figcaption>Precios de las herramientas utilizadas<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Dise\u00f1o 3D<\/h2>\n\n\n\n<p>He dise\u00f1ado el chasis del tanque y las cadenas completamente en 3D para poder ajustarme mejor al objetivo de que el tama\u00f1o del veh\u00edculo sea el menor posible y no depender de piezas de terceros. <\/p>\n\n\n\n<p>La herramienta que he usado para hacer el dise\u00f1o es <a href=\"https:\/\/www.freecadweb.org\/\">FreeCAD<\/a>, el cual se puede usar de forma gratuita y gracias a la parametrizaci\u00f3n de las piezas, cualquier persona interesada podr\u00e1 aprovechar, modificar o mejorar el modelo. Las piezas se pueden unir usando \u00fanicamente torniller\u00eda de m\u00e9trica 3, aunque tambi\u00e9n es recomendable disponer de alg\u00fan tipo de pegamento para pl\u00e1sticos (las pistolas de pegamento termofusible son ideales) para fijar las ruedas a los ejes de los motores y evitar que alguna otra pieza se mueva.<\/p>\n\n\n\n<p>Cada pieza ha sido dise\u00f1ada a prueba y error a trav\u00e9s de m\u00faltiples prototipos hasta llegar al modelo final que se puede descargar a continuaci\u00f3n. Durante ese proceso ha sido extremadamente \u00fatil tener a mano un calibre digital, una calculadora y conocimientos b\u00e1sicos de trigonometr\u00eda (para el dise\u00f1o de las ruedas).<\/p>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/1l4D6fahc7Kl1eVhENdeGHxlFNIrqpP0V\/view?usp=sharing\">Descargar modelo 3D<\/a><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/image-61.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/image-61.png\" alt=\"\" class=\"wp-image-4143\" width=\"524\" height=\"387\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/image-61.png 524w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/image-61-300x222.png 300w\" sizes=\"auto, (max-width: 524px) 100vw, 524px\" \/><\/a><figcaption>Modelo 3D del tanque<\/figcaption><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Configuraci\u00f3n Raspberry Pi Zero <\/h2>\n\n\n\n<p>Para usar la Raspberry Pi Zero W debemos seguir estos pasos:<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>1. Grabar la imagen de Raspberry Pi OS en la tarjeta microSD de 16Gb<\/strong><\/h4>\n\n\n\n<p>Podemos seguir cualquiera de estos tutoriales:<\/p>\n\n\n\n<p><a href=\"https:\/\/www.raspberrypi.org\/documentation\/installation\/installing-images\/\">https:\/\/www.raspberrypi.org\/documentation\/installation\/installing-images\/<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/www.youtube.com\/watch?v=3VO4vGlQ1pg\">https:\/\/www.youtube.com\/watch?v=3VO4vGlQ1pg<\/a><\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>2. Habilitar el acceso a la Shell de Linux a trav\u00e9s del puerto serie<\/strong><\/h4>\n\n\n\n<p>Podemos seguir cualquiera de estos tutoriales:<\/p>\n\n\n\n<p><a href=\"https:\/\/c2plabs.com\/blog\/2019\/04\/23\/enable-serial-console-on-raspberry-pi-zero-w\/\">https:\/\/c2plabs.com\/blog\/2019\/04\/23\/enable-serial-console-on-raspberry-pi-zero-w\/<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/learn.adafruit.com\/raspberry-pi-zero-creation\/give-it-life\">https:\/\/learn.adafruit.com\/raspberry-pi-zero-creation\/give-it-life<\/a><\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>3. Instalar servicios dnsmasq y hostapd<\/strong><\/h4>\n\n\n\n<p>Ejecutaremos en la Raspberry Pi Zero W este comando: <\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>curl -L https:\/\/raw.githubusercontent.com\/km4ack\/pi-scripts\/master\/autohotspot-buster | bash<\/code><\/pre>\n\n\n\n<p>Lo primero que nos pedir\u00e1 introducir ser\u00e1 una contrase\u00f1a, introducimos cualquier cosa que tenga m\u00e1s de 8 letras (la modificaremos en el punto 5) y despu\u00e9s nos pedir\u00e1 que introduzcamos el SSID de nuestro \u00abshack\u00bb y su password, con ello se refiere al nombre del WiFi de nuestra casa y su contrase\u00f1a.<\/p>\n\n\n\n<p><strong>NOTA:<\/strong> Este script nos configura la Raspberry para que si no est\u00e1 el WiFi de nuestra casa dentro del alcance, levante un punto de acceso, por lo que, si queremos que encienda el punto de acceso tambi\u00e9n cuando est\u00e9 dentro del alcance de nuestro WiFi, deberemos cambiar su SSID a trav\u00e9s del siguiente comando (con el objetivo de que no lo encuentre)<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>nano \/etc\/wpa_supplicant\/wpa_supplicant.conf<\/code><\/pre>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>4. Cambiar SSID del punto de acceso a \u00abtanquino pi\u00bb<\/strong><\/h4>\n\n\n\n<p>Ejecutamos el siguiente comando en la Raspberry Pi<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sed s\/ssid=.*$\/'ssid=tanquino pi'\/g \/etc\/hostapd\/hostapd.conf<\/code><\/pre>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>5. Cambiar la contrase\u00f1a del punto de acceso a \u00abseytr2021\u00bb<\/strong><\/h4>\n\n\n\n<p>Ejecutamos este comando en la Raspberry Pi<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sed s\/wpa_passphrase=.*$\/'wpa_passphrase=seytr2021'\/g \/etc\/hostapd\/hostapd.conf<\/code><\/pre>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>6. Instalar servidor Samba<\/strong><\/h4>\n\n\n\n<p>Primero ejecutamos el siguiente comando y cuando nos pregunte si queremos modificar smb.conf para usar la configuraci\u00f3n WINS, respondemos que no.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt install samba<\/code><\/pre>\n\n\n\n<p>Despu\u00e9s ejecutamos uno por uno los siguientes comandos para crear un recurso compartido<\/p>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-flow wp-block-group-is-layout-flow\">\n<pre class=\"wp-block-code\"><code>sudo sh -c 'echo &#091;www] &gt;&gt; \/etc\/samba\/smb.conf'\nsudo sh -c 'echo path=\/home\/pi &gt;&gt; \/etc\/samba\/smb.conf'\nsudo sh -c 'echo browseable=yes &gt;&gt; \/etc\/samba\/smb.conf'\nsudo sh -c 'echo read only=no &gt;&gt; \/etc\/samba\/smb.conf'\nsudo sh -c 'echo writable=yes &gt;&gt; \/etc\/samba\/smb.conf'\nsudo sh -c 'echo force user=pi &gt;&gt; \/etc\/samba\/smb.conf'\nsudo sh -c 'echo public=yes &gt;&gt; \/etc\/samba\/smb.conf'<\/code><\/pre>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>7. Copiar archivos a la carpeta compartida \u00abwww\u00bb<\/strong><\/h4>\n<\/div><\/div>\n\n\n\n<p>Descargamos los archivos a continuaci\u00f3n y nos conectamos a la red \u00abtanquino pi\u00bb para copiarlos a la carpeta compartida en red en la direcci\u00f3n 10.10.10.10\/www.<\/p>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/1ClRq57CeDYmyh4Q5i3aEyS-Rq625d8LI\/view?usp=sharing\">arrow.png<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/1HNMhc0va8T54BUv2Vun4G8lAyBPkixsV\/view?usp=sharing\">camera.py<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/1667MXWRYP0asz7WQEiDp7LFiLyOnQnry\/view?usp=sharing\">index.html<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/1MmmqMJaVAMTpV8slNCfNsKSe7pWHSi9z\/view?usp=sharing\">script.js<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/17GJQzJ6KGmJuxLzd1pxbZjBL-Oy1iJXf\/view?usp=sharing\">style.css<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Configuraci\u00f3n NodeMCU<\/h2>\n\n\n\n<p>Necesitaremos tener instalado el <a href=\"https:\/\/www.arduino.cc\/en\/software\">IDE de Arduino<\/a>, las <a href=\"https:\/\/www.luisllamas.es\/programar-esp8266-con-el-ide-de-arduino\/\">placas basadas ESP8266<\/a> y posiblemente, los <a href=\"https:\/\/www.instructables.com\/Instalar-driver-para-CH340G\/\">drivers para el chip CH340G <\/a>(depender\u00e1 de si nuestro NodeMCU lo tiene o no)<\/p>\n\n\n\n<p>A continuaci\u00f3n, instalamos las siguientes librer\u00edas:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>ESP8266WiFi (<a href=\"https:\/\/esp8266-arduino-spanish.readthedocs.io\/es\/latest\/esp8266wifi\/readme.html\">documentaci\u00f3n<\/a>)<\/li><li>WebSocketsServer (<a href=\"https:\/\/github.com\/Links2004\/arduinoWebSockets\">documentaci\u00f3n<\/a>)<\/li><li>CircularBuffer (<a href=\"https:\/\/github.com\/rlogiacco\/CircularBuffer\">documentaci\u00f3n<\/a>)<\/li><li>IRremoteESP8266 (<a href=\"https:\/\/github.com\/crankyoldgit\/IRremoteESP8266\">documentaci\u00f3n<\/a>)<\/li><\/ul>\n\n\n\n<p>Y copiamos en un proyecto arduino el c\u00f3digo disponible en este <a href=\"https:\/\/drive.google.com\/file\/d\/1ERHQbM5Ue-de43mOtTISBdcRIo-9y62n\/view?usp=sharing\">enlace<\/a>, para despu\u00e9s configurar el puerto y placa que estemos utilizando y subirlo.<\/p>\n\n\n\n<p>La interconexi\u00f3n de los componentes se puede ver en el esquema a continuaci\u00f3n, los puntos de 5V y GND tienen que ser los mismos que los que usemos para alimentar las placas NodeMCU y Raspberry Pi Zero. La parte inferior del diagrama refleja las direcciones IP que se asignar\u00e1n a los dispositivos dentro de la red \u00abtanquino pi\u00bb, la X refleja que la IP es din\u00e1mica y no se conocer\u00e1 el valor de esa parte de la direcci\u00f3n hasta que el dispositivo se conecte.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/Esquema-electrico.png\"><img loading=\"lazy\" decoding=\"async\" width=\"724\" height=\"1024\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/Esquema-electrico-724x1024.png\" alt=\"\" class=\"wp-image-4163\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/Esquema-electrico-724x1024.png 724w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/Esquema-electrico-212x300.png 212w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/Esquema-electrico-768x1086.png 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/Esquema-electrico-1086x1536.png 1086w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/Esquema-electrico-1448x2048.png 1448w\" sizes=\"auto, (max-width: 724px) 100vw, 724px\" \/><\/a><figcaption>Esquema el\u00e9ctrico y de red del proyecto<\/figcaption><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Im\u00e1genes del proyecto<\/h2>\n\n\n\n<figure class=\"wp-block-gallery columns-3 is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184159-1-1024x890.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"890\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184159-1-1024x890.jpg\" alt=\"\" data-id=\"4160\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4160\" class=\"wp-image-4160\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184159-1-1024x890.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184159-1-300x261.jpg 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184159-1-768x668.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184159-1-1536x1335.jpg 1536w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184159-1-2048x1780.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Vista frontal izquierda<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"848\" height=\"1024\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257-848x1024.jpg\" alt=\"\" data-id=\"4161\" data-full-url=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257.jpg\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4161\" class=\"wp-image-4161\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257-848x1024.jpg 848w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257-248x300.jpg 248w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257-768x928.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257-1272x1536.jpg 1272w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257-1695x2048.jpg 1695w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210509_191257.jpg 2000w\" sizes=\"auto, (max-width: 848px) 100vw, 848px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Vista superior<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184152-1-1024x877.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"877\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184152-1-1024x877.jpg\" alt=\"\" data-id=\"4159\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4159\" class=\"wp-image-4159\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184152-1-1024x877.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184152-1-300x257.jpg 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184152-1-768x658.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184152-1-1536x1316.jpg 1536w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184152-1-2048x1754.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Vista frontal derecha<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_183930-1-970x1024.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"970\" height=\"1024\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_183930-1-970x1024.jpg\" alt=\"\" data-id=\"4148\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4148\" class=\"wp-image-4148\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_183930-1-970x1024.jpg 970w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_183930-1-284x300.jpg 284w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_183930-1-768x811.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_183930-1-1455x1536.jpg 1455w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_183930-1.jpg 1894w\" sizes=\"auto, (max-width: 970px) 100vw, 970px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Dimensiones horizontales: 16,5 x 15 cm<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184020-1-1024x990.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"990\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184020-1-1024x990.jpg\" alt=\"\" data-id=\"4149\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4149\" class=\"wp-image-4149\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184020-1-1024x990.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184020-1-300x290.jpg 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184020-1-768x743.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184020-1-1536x1485.jpg 1536w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184020-1.jpg 2000w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Altura: 11 cm<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184214-1024x512.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"512\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184214-1024x512.jpg\" alt=\"\" data-id=\"4156\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4156\" class=\"wp-image-4156\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184214-1024x512.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184214-300x150.jpg 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184214-768x384.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184214-1536x768.jpg 1536w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184214-2048x1024.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">C\u00e1mara inclinada hacia abajo<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184109-512x1024.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"1024\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184109-512x1024.jpg\" alt=\"\" data-id=\"4152\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4152\" class=\"wp-image-4152\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184109-512x1024.jpg 512w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184109-150x300.jpg 150w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184109-768x1536.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184109-1024x2048.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184109-scaled.jpg 1280w\" sizes=\"auto, (max-width: 512px) 100vw, 512px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Detalle paso de cables al ca\u00f1\u00f3n<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184132-1-1024x512.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"512\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184132-1-1024x512.jpg\" alt=\"\" data-id=\"4154\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4154\" class=\"wp-image-4154\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184132-1-1024x512.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184132-1-300x150.jpg 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184132-1-768x384.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184132-1-1536x768.jpg 1536w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_184132-1-2048x1024.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Detalle doblez del cable de la c\u00e1mara<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_181003-1024x512.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"512\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_181003-1024x512.jpg\" alt=\"\" data-id=\"4155\" data-link=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/?attachment_id=4155\" class=\"wp-image-4155\" srcset=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_181003-1024x512.jpg 1024w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_181003-300x150.jpg 300w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_181003-768x384.jpg 768w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_181003-1536x768.jpg 1536w, https:\/\/blogs.etsii.urjc.es\/dseytr\/wp-content\/uploads\/sites\/8\/2021\/05\/IMG_20210517_181003-2048x1024.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption class=\"blocks-gallery-item__caption\">Detalle soldaduras<\/figcaption><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Otros archivos<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Presentaci\u00f3n PDF (<a href=\"https:\/\/drive.google.com\/file\/d\/1W8bu6b_SAls4jmYuQKGHPinmiYXStiKP\/view?usp=sharing\">link<\/a>)<\/li><li>Memoria ejecutiva (<a href=\"https:\/\/drive.google.com\/file\/d\/1LQ26CKVqDhnlaIq0pEP4AuC3aRCKs7k6\/view?usp=sharing\">link<\/a>)<\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Autor Juli\u00e1n S\u00e1nchez Fern\u00e1ndez Idea Para el proyecto final de la asignatura de Sistemas Empotrados y de Tiempo Real me he inspirado en el juego arcade \u00abTank Force\u00bb, que public\u00f3 la empresa namco en&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[120,123,119,118,121],"class_list":["post-4128","post","type-post","status-publish","format-standard","hentry","category-proyectos","tag-camara","tag-impresion-3d","tag-nodemcu","tag-raspberry-pi","tag-websocket"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Tanquino Pi - Proyectos con Arduino.<\/title>\n<meta name=\"description\" content=\"Tanque FPV dise\u00f1ado en 3D y controlado a trav\u00e9s del m\u00f3vil gracias a una Raspberry Pi Zero W y una placa NodeMCU V3 (ESP8266)\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" 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