In lugnet.robotics, Steve Hassenplug wrote:
> In lugnet.robotics, Kevin L. Clague wrote:
<snip>
> > > Clear yet?
> >
> > Nope. It would seem that over time, you move further down the array, until
> > MotorRunningValue goes to 0, and you start over....
> >
> > This has the potential of moving you from forward, through stop, and then
> > reverse. How does this help?
>
> Let me try with a couple examples.
>
> Given the above code, if you set MotorA=0, the motor direction will be set to 1
> for the first ms (MotorRunningValue==0; 0+0=element 0 in array) and
> 1 for the second ms (MotorRunningValue==1; 0+1) and
> 1 for the eighth ms (MotorRunningValue==7; 0+7 element in array), then
> MotorRunningValue will be set to 0, and it will start over.
>
> So, the table would look like this:
> MotorSetting = speed for 1ms slice of time
> 0 = 1,1,1,1,1,1,1,1 // full forward for 8ms, repeat
> 1 = 1,1,1,1,1,1,1,3 // forward for 7 ms, stop for 1ms, repeat
> 2 = 1,1,1,1,1,1,3,3 // stop for 2ms
> 3 = 1,1,1,1,1,3,3,3
> 4 = 1,1,1,1,3,3,3,3 // running for 50%, stopped for 50% or 1/2 speed
> 5 = 1,1,1,3,3,3,3,3
> 6 = 1,1,3,3,3,3,3,3
> 7 = 1,3,3,3,3,3,3,3 // running very slow. Full speed for 1ms, stop for 7ms
> 8 = 3,3,3,3,3,3,3,3 // stopped
> 9 = 3,3,3,3,3,3,3,2 // slow reverse
> 10= 3,3,3,3,3,3,2,2
> 11= 3,3,3,3,3,2,2,2
> 12= 3,3,3,3,2,2,2,2 // 1/2 speed reverse
> 13= 3,3,3,2,2,2,2,2
> 14= 3,3,2,2,2,2,2,2
> 15= 3,2,2,2,2,2,2,2
> 16= 2,2,2,2,2,2,2,2 // reverse all the time
>
> And if you just want to float the motors:
> 24= 0,0,0,0,0,0,0,0
>
> It will never go forward, through stop, then reverse with a single motor
> setting. Because MotorRunningValue goes from 0 to 7 (eight steps) and there are
> eight steps in each section of the array. Lucky? well, maybe. :)
>
> understand, yet?
Yes. Thanks.
Your PWM wavelength is 8ms, MotorA or MotorC chooses the first of the 8 entries
used for the ON part of the wave. The MotorRunningValue walks you through the
other 7 entries (the remainder of the wavelength).
>
> Steve
Thanks!
Kevin
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