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hi, I am during the assembly phase where I am supposed to be able to download the pcode to the handy board. I've placed on my handyboard a UM62256A-10L as RAM a MC47HC132N and a PICVUE 16x2 LCD PVC160203P All the test from the handyboard assembly (...) (24 years ago, 12-Nov-00, to lugnet.robotics.handyboard)
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| | Re: Encoder Implemenation questions
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(...) I would suggest shutting it down early (say 5 ticks early) and using a "jog" mode whereby brief pulses are sent to the motor to move it the remaining distance. Lets say you shut it off at 19 (targeting 24) and the motor/load's momentum carries (...) (24 years ago, 12-Jan-01, to lugnet.robotics.handyboard)
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| | Re: Encoder Implemenation questions
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(...) Actually I was simplifying too much here. My goal is to be able to execute a relatively accurate 90 deg. turn to "round the curve" in a narrow hallway and to be able to spin on axis (robot is circular) a full 180 so I actually can count on (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | Re: Encoder Implemenation questions
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(...) No, your conclusion is too broad, simply stated if you don't monitor motor current (and to some extent model the inertia of the motor) in software, then your damping algorithm (which is effectively a constant based on your description) won't (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | Re: Encoder Implemenation questions
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(...) It certainly helps. I guess I'll stick to my kludge... it's easier. ;) So in order to do effective rotation sensors I need to monitor not only the rotations, but the power applied to the motor as well? That seems fairly complex but I guess (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | Re: Encoder Implemenation questions
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You step into the morass that separates reality from theory :-) The "right" way to do this is to measure the current on the servos, ramp their accelleration up and then down again as you approach your final endpoint. Read up on feedback systems and (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | Encoder Implemenation questions
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I have contructed a robot that I want to be able to move and position itself accurately. I have encoders (the Hamamatsu P5587) attached to analog inputs 4 & 5 using sencdr4 & 5. I have 24 segment encoders that should give me a resolution of about (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | Re: Basic assembler and downloader question
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That did the trick. Thanks for helping me out with something so basic. I guess that I am next going to read up a little further on how the HandyBoard is using the special mode variations of the Motorola chip while still being able to access the (...) (24 years ago, 10-Jan-01, to lugnet.robotics.handyboard)
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| | Re: Basic assembler and downloader question
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OK, I didn't see the following before. The HB has its reset vector at $BFFE. So the second ORG must be there, not at $FFFE. Please see (URL) more info. Fred In your message you said: (...) , (...) is (...) ot (...) (24 years ago, 9-Jan-01, to lugnet.robotics.handyboard)
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| | Re: Basic assembler and downloader question
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I tried using dl.exe and the download appeared to work. However, the LED still did not turn on. Is something wrong with my code? Perhaps the RAM is not accessible at this point as the chip is in bootstrap mode? Again here is the listing (with the (...) (24 years ago, 9-Jan-01, to lugnet.robotics.handyboard)
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