Subject:
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Re: Control lego motors and rotation sensors
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 26 Apr 2002 03:00:14 GMT
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Original-From:
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Steve Baker <sjbaker1@airmail.*nospam*net>
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Reply-To:
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sjbaker1@airmail&SayNoToSpam&.net
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Viewed:
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731 times
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Jerry Kalpin wrote:
>
> Changing the motor 'speed' (pulse wave modulation) really only changes the
> torque. It will only change the speed if the motor is heavily loaded.
> Another technique that is more successful is to create a control loop in
> which the motor is on for 5 ticks and off for (say) 10 ticks. Whatever the
> load condition the motor will run at 1/3 of full speed.
That's not really any different from what the RCX's firmware does though.
You are doing pulse-width modulation and so does the firmware.
The only difference is that you are using a longer time-constant.
----------------------------- Steve Baker -------------------------------
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Message has 1 Reply:
 | | Re: Control lego motors and rotation sensors
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| (...) The standard firmware does pulse-width modulation alternating between ON and FLOAT. What I think Jerry is suggesting is pulse-width modulation alternating between ON and BRAKE (which does control speed quite handily, and is what legOS does). - (...) (23 years ago, 26-Apr-02, to lugnet.robotics)
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Message is in Reply To:
| | Re: Control lego motors and rotation sensors
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| Changing the motor 'speed' (pulse wave modulation) really only changes the torque. It will only change the speed if the motor is heavily loaded. Another technique that is more successful is to create a control loop in which the motor is on for 5 (...) (23 years ago, 26-Apr-02, to lugnet.robotics)
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