Subject:
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Re: Several hardware questions.. Laser link Hardware expansion n' more
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 5 Jul 2002 14:24:57 GMT
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Viewed:
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647 times
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I've been working on just such a robot. (two RCXs, two rotation sensors, four light sensors, and two touch sensors)
Currently, my biggest problem has been communicating between RCXs. I keep getting collisions with my messages.
I've had to limit the messages to one direction. That seems to be working better.
Steve
----- Original Message -----
From: "John Barnes" <barnes@sensors.com>
Date: Fri, 5 Jul 2002 12:17:12 GMT
To: lugnet.robotics@lugnet.com
Subject: Re: Several hardware questions.. Laser link Hardware expansion n' more
problem. As an example, if you are building a tracked platform with left and
right side rotation sensors, the easiest way to partition the task is to use
two RCXs communicating via their infrared ports set to low power. One RCX is
set up as being responsible for platform movement (controlling the main
drive motors and handling the rotation sensor inputs to close the tread
speed loops) while the other takes care of the higher level control and
navigation functions. This simplifies the communication tasks to motor
control commands being sent one way and motor status reponses being sent the
other. Low level bump sensor overrides then also route into the motor
control RCX. It often seems to me that six sensor ports and six motor ports
seems more than twice as capable as three and three.
JB
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