Subject:
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Re: Servo control using Miniboard slaved to Handyboard.
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Mon, 21 Jul 1997 13:58:42 GMT
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Original-From:
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Duncan Orthner <p6orthne@cquestIHATESPAM.utoronto.ca>
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Viewed:
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447 times
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A friend of mine built a radio controlled walker with six legs using
twelve servos and a single BASIC stamp to control the walking. The stamp
accepts the PWM from the RC receiver (using the pbasic 'pulsin'
command) and outputs the pulses to all of the servos. To turn, the stamp
increases the length of the steps on the outside legs ie. by sending
longer pulses to the servos controlling the length of step on that side.
It seems to me that the same setup could just as easily accept the PWM
from the motor drivers on the HB. The stamp is essentially a PIC running
a heavily tokenized form of basic. These are cheap and very easy to
program. Check out:
http://www.parallaxinc.com
On Mon, 21 Jul 1997, John Hatton wrote:
> As an addition to my earlier message I have a cheaper and possibly more
> versatile way of controlling the servos. I have obtained information on
> the Servo16 algorithm by Erik de la Iglesia which runs on a MC68HC11E1
> (he mentions using the E9 but the only difference is the E9 has 12K of
> ROM which is not apparently used). How easy is it to use the SPI port
> (serial peripheral interface) to communicate from the Handyboard to the
> Miniboard, using the Miniboard solely to control the walking and the
> Handyboard to do every thing else.
> This idea will be cheaper because with minor modification to the
> Miniboard PCB (the algorithm needs ports B and C) 16 servos can be
> controlled where the MiniSSC II only controls 8 servos and costs the
> same. The only down side is that I have to write the program for the
> Miniboard whereas the MiniSSC II only requires serial commands but is
> obviously more limited.
>
> John Hatton
>
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