Subject:
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Hey, it works!
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Fri, 27 Dec 1996 14:10:27 GMT
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Original-From:
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Mike Ross <MROSS@OUTLAND.JSC.NASA.spamlessGOV>
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Viewed:
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1500 times
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I can hardly contain my glee! After 3 weeks of fun-yet-obsessive,
marriage-threatening, Xmas-be-damned behavior, I've got all four IC and OC
interrupts going, receiving/processing/outputting 4 RC PWM signals. This
is only a side-note for Handyboard users, as I'm doing this on one of Ray
Butt's Tcomp computers (68HC11E1 based, about $70) which I have glued to
my crippled handyboard from which I draw clean power. I thought I'd post
this since when I proposed the plan a year ago, some here thought that
many interrupts would swamp the processor and make me miss cycles. I used
Karl Lunt's Sbasic compiler for all the code, and even unoptimized the
code runs in what seems to be plenty of time. Both Karl and Ray Butts
were very helpful in guiding me through the maze.
The purpose of processing the signals is to extend and/or shift range,
smooth out spikes, and convert from position to rate control in
certain axes.
I'm now hooking up the Vector 2X electronic compass via the SPI port. The
idea is to use the heading angle to augment the steering commands and
assist the operator in keeping the vehicle tracking straight in a bumpy
yard. The code for the SPI communications looked straightforward, but it
isn't working yet. I'll keep the group posted, but email me if you
want to look at the code.
Happy New Year, all!
* Michael L. Ross/C33 | Lockheed Engineering & Sciences Co.****
* Robotics Department | 2400 Nasa Rd. 1, Houston, TX 77058*****
*(713)333-7094 voice,(713)333-6071 fax*#include <disclaimer.h>*
* Finger me for my public key. mross@outland.jsc.nasa.gov ****
* If you weren't a socialist in your twenties, you had no heart.
* If you weren't a conservative by your thirties, you have no brain.
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