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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Wed, 30 Jan 2002 12:55:09 GMT
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Viewed:
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637 times
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"Steve Baker" <lego-robotics@crynwr.com> wrote in message
news:3C56E677.33FD9910@airmail.net...
> > > I take it you are really doing on...float...on...float cycles
> > > with your motor instead of using "off", which actually performs
> > > active braking (on/off cycles are almost guaranteed to give serious
> > > mechanical jitters).
> > Nope, I'm using Off, because I need to brake the motor to pulse it. • Floating
> > it does almost nothing - the inertia of the motor carries it on just as • if
> > it wsan't powered. To get a low speed using this method, you must Off
> > (brake) the motor.
> I have to disagree with your approach. Even at low speeds, alternating
> between pushing on the gas and stamping on the brake isn't the way to
> drive smoothly. Perhaps you need to gear the machine differently and
> use less power during the ON cycles - but there is no doubt that you
> need to work hard to use FLOAT instead of OFF.
I cannot gear it differently - the geartrain is optimized for the correct
speed I must achieve.
Float doesn't work because of the reasons I explained before (motor inertia
etc). I am also using a lower power setting - in the "drive" section of my
driver, it is at full power, during the "deceleration" portion of the
driver, it's using a lower power as well as pulsing the motor.
If I were to use Float, I would have to have a longer cycle in the
deceleratoion portion (perhaps a wait of 4, not 1). This allows the robot to
slew farther beyond the target in that ammount of time - reducing acuracy
and requiring a corrective move afterword. That is not desirable to me.
Iain
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Message is in Reply To:
 | | Re: "Servo" Driver for NQC
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| (...) I have to disagree with your approach. Even at low speeds, alternating between pushing on the gas and stamping on the brake isn't the way to drive smoothly. Perhaps you need to gear the machine differently and use less power during the ON (...) (22 years ago, 29-Jan-02, to lugnet.robotics)
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