Subject:
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Re: "Servo" Driver for NQC
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Newsgroups:
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lugnet.robotics
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Date:
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Sun, 27 Jan 2002 16:31:41 GMT
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Viewed:
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790 times
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In lugnet.robotics, Iain Hendry writes:
> Hi All,
>
> I've got a bit of a problem! Whenever I do a cartesian (or other) robot
> model, I typically (in NQC) will program a "driver" which can spin the
> motors with the rotation sensors to any position and delecerate to finely
> reach the destination. However, I've not been able to do this ever very
> smoothly.
>
> Has anyone done something similar?
>
> I'm changing a variable in the main task (like, xPos or yPos or similar),
> and the "servo" task will note the difference between it's actual position
> and the desired position. It'll spin the motor in the direction it should
> go, and when it gets within a certain number of counts on the rotation
> sensor, jumps to a slow speed by pulsing the motor (on, wait 1, off, wait
> 1).
>
> Is this the right newsgroup to be asking? I'm not sure, maybe I should try
> one of the NQC ones.
>
> Anyway, I'm just anxious to see if anyone else has ever done something
> similar, because with a robot I'm working on for an upcoming competition,
> the method of control I just mentioned is far too "jumpy" and causes my
> robot to vibrate, shake, and spring all over.
>
> Thanks in advance,
>
> Iain
This is absolutely the right group! If you do searches on 'skipped counts'
or similar wording you will find lots of posts on the rotation sensor
missing counts at low speeds.
And if you want to get to the bottom line quickly, check this posting:
http://news.lugnet.com/robotics/?n=17113.
This probably does not help your project!
Jerry
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Message has 1 Reply:
 | | Re: "Servo" Driver for NQC
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| "Jerry Kalpin" <jdkalpin@sympatico.ca> wrote in message news:GqLv8t.12r@lugnet.com... (...) counts' (...) Well, I'm not really worried about missing a few counts (even though yeah, I've noticed that problem, and it's *extremly* irritating...). I was (...) (23 years ago, 27-Jan-02, to lugnet.robotics)
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Message is in Reply To:
| | "Servo" Driver for NQC
|
| Hi All, I've got a bit of a problem! Whenever I do a cartesian (or other) robot model, I typically (in NQC) will program a "driver" which can spin the motors with the rotation sensors to any position and delecerate to finely reach the destination. (...) (23 years ago, 27-Jan-02, to lugnet.robotics)
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