Subject:
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Re: a couple of new-bot questions from a generally quiet lurker
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 20 Sep 1999 05:23:05 GMT
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Original-From:
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dave madden <dhm@mersenne.NOSPAMcom>
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Viewed:
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619 times
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=>From: aszy@worldnet.att.net (Al & Becky Szymanski)
=>...
=>1. What is the value of an Add Subtract differential? I have seen the pic's
=>that folks have made and followes some of the discussion, but I don't
=>really grok the value of one of the systems.
As it's normally used, the construction has two inputs and two
outputs. Let's call the inputs A and B; then the outputs turn at
rates given by (A+B) and (A-B). Now, let's put a wheel on each output
(one on each side of a robot). Turn on motor A, and leave B off.
Both wheels will turn the same direction, and the robot will drive
straight. Turn on B, and one wheel slows down while the other speeds
up, causing the robot to turn. What you've accomplished is separating
the "go" and "turn" motors. This is good, in theory anyway, because
you don't have to worry about the robot veering to one side or the
other due to minor variations in motor speed as you would in simple,
two-motor direct drive system, where one motor drives one wheel and
the other drives the other.
=>2. Is the processor in the RCX 'really' a multitasking processor? I have
=>read intimations that it is and the NQC codets seem to support it, but is
=>it really a true multi task or is it something else.
I think the LEGO firmware does timeslicing, or multitasking. LegOS
definitely does. ("Multitasking" is a function of the software
running, not the processor itself.)
=>3. [Srecs]
=>4. [Servos]
Sorry, can't help you with these.
d.
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