Subject:
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Re: Vector 2x giving me lots of trouble...
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Mon, 2 Jun 1997 13:18:34 GMT
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Original-From:
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Tom Brusehaver <tomb@netperceptions*IHateSpam*.com>
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Viewed:
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1376 times
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F> Well, I seemed to have narrowed down the problem I was having with
F> the Vector2x compass. It was functioning fine... All I had to do
F> was write clean code that called comp_disable(1) at the
F> end. When my code wasn't doing that, the compass IRQ routines
F> were still running, and IC31 would say, "initializing
F> interrupts" (or something like that), hose the pcode, and
F> crash. But when I called comp_disable(1), then pulled up IC, it
F> worked fine.
I am kind of frustrated by the logic on the compass. It seemed
reversed, so I did what I could with minimal external components.
F> I think we should try and write some code for the
F> compass so that works as a slave, and you could just request the
F> current heading from it. The IRQ code works, but as you said, it
F> slows the board down quite a bit, and is pretty fragile with
F> IC31. I'll start taking a look at it to see if I can come up
F> with anything...
I did, and someone else (sorry, I think it was Mike Ross) did. The
trouble is the time it takes to get a sample. When you got to ask the
compass, you gotta wait at least 200ms (that's a long time for a
robot) before you get the reading back.
F> I also find it difficult to shield the Vector2x from the magnetic
F> effects of the HandyBoard itself, and the motors. I've had to
F> position it quite a distance away (kind of difficult on my small
F> robot), and spent quite a bit of time leveling it. Perhaps I
F> should have picked up the gimbled version...
This will depend on the robot and the compass. The first compass I
got was really sensitive to the HB EMF field. The last one I got is
much less so, and seems to almost not notice it. I guess if the robot
is level, the compass ought to be also? Depends on the design of the
bot. If the robot is to negotiate any hills, the gimbaled one is the
way to go.
F> On another note, I still haven't seen anything specific to the
F> HandyBoard for connecting up the Polaroid 6500. Thanks to Michael
F> A. Tyborski for his links.... Still looking for an idiot proof
F> description of how to connect it to the HB...
These are on the HB web page under contributed software, Kent
Farnsworth did the work, it is pretty nice. Make sure you get the
README file, and add the resistor on the BINh line, or you will damage
you sonar board, and only get 25" minimum distance (instead of 7").
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Message is in Reply To:
 | | Re: Vector 2x giving me lots of trouble...
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| Well, I seemed to have narrowed down the problem I was having with the Vector2x compass. It was functioning fine... All I had to do was write clean code that called comp_disable(1) at the end. When my code wasn't doing that, the compass IRQ routines (...) (27 years ago, 17-May-97, to lugnet.robotics.handyboard)
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