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Chris or anyone who cares to respond, You put your message on the mailing list concerning the IR avoidance. I have a question about the hardware also. How are the leds powered? Are you pulsing them some way or what? I guess the decoder is what is (...) (28 years ago, 24-Feb-97, to lugnet.robotics.handyboard)
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| | Re: IR collision avoidance
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This question seems to come up a lot here so I thought I'd post to the list rather than reply individually. Here's what I'm doing for IR collision avoidance. First, the hardware: I'm using 3 Radio Shack IR LED's in parallel and 3 Radio Shack IR (...) (28 years ago, 24-Feb-97, to lugnet.robotics.handyboard)
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| | Using PD2 and PD3
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I am building the circuit that is in the mobile robots book on pg. 108 to turn on and off my IR led's. Is it best to use the bit_set to turn them on and off? Where is the best place to get the 5 volts I need for the 74o4 chip? How do you read the (...) (28 years ago, 24-Feb-97, to lugnet.robotics.handyboard)
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| | Re: IR collision avoidance
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Hey Chris, Thanks for the ideas, one questiom?. Can you pass along the Radio Shack part numbers? It seems like there are older and newer RS parts out there, what are you using? JTW In your message you said: (...) (28 years ago, 24-Feb-97, to lugnet.robotics.handyboard)
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| | Re: motor voltages
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(...) You can use diodes to drop the voltage but you need to attack the HB, cutting traces and so on. Depending on how you are mounting things, why not just use a lower voltage battery pack? Six Nicad cells give a nominal 7.2 volts, enough to drive (...) (28 years ago, 24-Feb-97, to lugnet.robotics.handyboard)
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| | Re: Motor Speeds
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(...) into (...) port. Consider implement PWM (for Motor Control) with second HC11, why not implement DC motor Controller with Frequency Lock Loop to control motor position and regulate motor speed? Suggested Specification: M68HC11 PWM Output using (...) (28 years ago, 24-Feb-97, to lugnet.robotics.handyboard)
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| | Re: Motor Speeds
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(...) Now this is starting to make sense. We use -100 to +100, but it does seem silly to have a resolution of 201. Much more logical that the routine converts to steps of lesser resolution, and 7 speeds certainly seem reasonable. (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | Re:
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(...) Looking at lib_hb.c: void motor(int m, int speed) { if (speed>100) speed=100; if (speed<-100) speed=-100; if (speed >= 0) _set_motor(m, 0, (speed + 3) / 14); else _set_motor(m, 1, (-speed + 3) / 14); } Keith (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | Re: More Motor Speeds
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(...) Either I'm confused or we're talking two different animals. Our pcode_hb.s19 that came with the Gleason Handyboard, allows variable motor speeds from motor(0,-100) to motor(0,100) with great and fine control. In our first test we converted (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | Re: More Motor Speeds
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(...) You will have to rewrite the code in the interrupt functions. It isn't "hard" but it does require that you understand what IC is using the various timers for. The best documentation for that is the PCode itself. I don't believe you can use the (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | Re: More Motor Speeds
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(...) ???? 7 speeds??? We use the IC that comes with the Gleason Associates Handyboard where motor(0,100) runs motor 0 full speed ahead motor(1,-33) runs motor 1 backwards at 1/3 speed where speeds vary from 1 to 100 in either direction. Can't you (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | (no subject)
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I had considered doing -100 to 100 PWM in hardware. I even went so far as to draw up the schematics for it... Then I read the HC11 manual, and realized that instead of my "little" circuit, I could just use another HC11.. The internal timer/counters (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | Re: More Motor Speeds
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it's harder than you might expect, b/c the PWM routine is 'hard-wired" into the pcode file. basically, you have to make the changes in pcode.asm, and reassemble the pcode_hb.s19 file. -fred In your message you said: (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | More Motor Speeds
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I want to increase the resolution of the motor driver routines provided by Interactive C, so that there are more than 7 speeds. Using the method of generating PWM signals in the Mobile Robots Book, this seems easy. However looking at the primitive (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | Re: IR collision avoidance
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(...) I'm sending this to other members of our robotics team because we JUST mastered wall-hugging IR this week. They may have other things to add. (...) Here's the pseudo code: Start Any bumpers hit? YES - Execute the back up, turn 90 degrees left (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | motor voltages
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Hello again, Thanks to all who responded to my query regarding motor chips on the Mini Board. Now that I have the more capable motor drivers installed, I want to lower the voltage that my motors see. They are getting straight 9V from the motor chips (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | Re: motor voltages
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I (...) Use a couple power diodes in series with the motor power supply, _NOT_ the motor itself. You'll need pretty heafty diodes if you go this route. A typical Si diode drops between 0.6 and 0.7 volts when forward biased. String a few together and (...) (28 years ago, 23-Feb-97, to lugnet.robotics.handyboard)
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| | IR collision avoidance
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Howdy, Is there anyone out there that can explain programming IC for IR collision avoidance. I have read the mobile robots book and everything in the IC manual I downloaded and the 6.270 hardware info but still haven't got a good grasp of the best (...) (28 years ago, 22-Feb-97, to lugnet.robotics.handyboard)
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| | Re: motor drivers
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David, You can replace the L293 on your MiniBoard with the TI SN754410 with no adverse effects. The two chips are pin-for-pin compatible. - Prabal (...) (28 years ago, 22-Feb-97, to lugnet.robotics.handyboard)
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| | motor drivers
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Hi all, I am running some motors from a Mini Board and I want to up the current output of the board. I have noticed that the motor drivers on the MB are the L293 chips just like the Handy Board. Now if the 1 Amp motor chips that many Handy Board (...) (28 years ago, 21-Feb-97, to lugnet.robotics.handyboard)
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