Subject:
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crane with multitasking motor
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 28 Aug 1999 03:20:25 GMT
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Original-From:
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Mad Programmer <MAD_PROGRAMMER@YAHOO.COMstopspam>
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Viewed:
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753 times
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hi everyone. just thought I would announce
my lego crane, also submitted to the
mindstorms web site.
I've taken lots of pictures & written a long description at
http://www.geocities.com/SouthBeach/Jetty/5683/robot/
this is a very complex and sophisticated crane with four independent
functions and two directions for each. the crane goes forward and
backward and can turn-in-place in either direction. the load moves up
or down independently on the arm, which also moves up or down.
all this is accomplished with a "multitasking motor" system in which
only two motors are used. one motor drives another on a turntable,
which contacts to 4 different gear positions.
a closed loop control system finds the "home" position on the
multitasking motor several times during the overall program, which runs
about 3 minutes. there's a front bumper sensor the code tracks, and
there is an independently running system to count 3 light flashes.
the sophisticated code in the standard RCX software has about 70
instructions with the max of 8 subroutines used, and a "controller"
used in each subroutine, also the limit.
the code sequence is:
1. calibrate multitasking motor home
2. move forward until bump sensed
3. move back (8 seconds), beep-beep-beep
4. raise arm
5. lower tire load on arm
6. switch drivetrain mode to left/right
7. choose random direction, left/right
8. rotate in place (45 degrees)
9. raise tire load on arm
10. switch drive train mode to foward
11. lower arm
12. repeat entire sequence
all parts came from a single mindstorms kit.
__________________________________________________
Do You Yahoo!?
Bid and sell for free at http://auctions.yahoo.com
--
Did you check the web site first?: http://www.crynwr.com/lego-robotics
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