Subject:
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Re: motor routines in lib_hb.c
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Tue, 15 Apr 1997 01:09:02 GMT
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Original-From:
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MAR ERICSON <MAR@COOPER.EDUstopspammers>
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Viewed:
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1426 times
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If I'm not mistaken, (someone please corect) those speeds represent
the actual shape of the waveform. Let's list some details.
1. Each bit 0 or 1 represents 0V or 9.6V. (or whatever external source)
2. Each bit represents the above voltage for a duration of 1 msec.
3. Thus, the whole waveform represented lasts for 8 msec.
4. The 8 speeds represent 0/8, 2/8, 3/8, 4/8, 5/8, 6/8, 7/8, 8/8 motor
volts.
5. 1/8 motor volts is the only exclusion. (I've never tried to put this
in, maybe someone has?)
6. If you scope the digital output to pin 1 or 9 of the motor chip, the
waveform takes the exact shape represented by the 8-bit word.
7. 00010001 is used instead of 00000011 because it distributes the pulses
more evenly. (This way, the motor will be less jerkey. Although, at 8
msec, inertia plays much more of a roles) The same goes with the
others.
8. You have to change the pcode.asm as Fred Martin indicated to get higher
resolution.
-----------
ericson mar
Master of Engineering Candidate
Project: Mobile Robotics
mar@cooper.edu
(212)353-4356
Department of Mechanical Engineering
The Cooper Union for the Advancement of Science and Art
-------------------------------------------------------
On Mon, 14 Apr 1997, Rajesh Gottlieb wrote:
>
>
> Does anyone know why these eight speeds were chosen in lib_hb.c for the
> motors and what would happen if the code were re-written to allow any
> speed between 0 and 255?
>
> int _speed_table[]= {
> 0b00000000, /* speed 0 */
> 0b00010001,
> 0b01001001,
> 0b01010101,
> 0b01010111,
> 0b01110111,
> 0b01111111,
> 0b11111111 /* speed 7 */
> };
>
> Rajesh
>
>
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Message is in Reply To:
 | | motor routines in lib_hb.c
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| Does anyone know why these eight speeds were chosen in lib_hb.c for the motors and what would happen if the code were re-written to allow any speed between 0 and 255? int _speed_table[]= { 0b00000000, /* speed 0 */ 0b00010001, 0b01001001, (...) (27 years ago, 14-Apr-97, to lugnet.robotics.handyboard)
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