Subject:
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Re: Main ROM routine
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 12 Nov 1998 07:50:49 GMT
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Original-From:
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Kekoa Proudfoot <kekoa@Graphics.Stanford.EDU>
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Viewed:
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2425 times
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> Kekoa Proudfoot wrote:
> > To adjust the PWM, you need to override the motor part of the OCIA routine,
> > which is hardcoded to rotate a single byte per motor, using the LSB to
> > modulate two control bits stored elsewhere using a 1 ms waveform. Servo
> > control will therefore be slightly more difficult to do, as servos require
> > accurate pulses in the 1-2 ms range, if I remember correctly.
>
> So is f000 the memory-mapped motor drivers? If I've understood it, efca
> contains the direction bitmaps (10 for one way, 01 for the other,
> 11xx2233 is the byte layout, if you see what I mean), f000 and efce are
> the same layout, but modulated by efcb-efcd (which do the PWM,
> effectively). efce gets set up with the _next_ value, and f000 is the
> actual hardware. Right?
Memory-mapped motor drivers, yes. A strange way to do things. But f000 is
only written and never read, so it must be that way.
-Kekoa
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Message has 1 Reply:
 | | Re: Main ROM routine
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| (...) This bit was me, for the record: (...) Not that strange - when I worked on embedded systems, we often did this. When you get down to it, from the electronics point of view, the difference between I/O and memory is typically just 1 signal line (...) (26 years ago, 12-Nov-98, to lugnet.robotics)
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