Subject:
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RE: Encoders
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Thu, 20 May 1999 07:41:35 GMT
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Original-From:
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Weng, Andrew <andrew.weng@STOPSPAMvalueoptions.com>
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Viewed:
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915 times
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I modified the sencoder() routines to work with quad encoders and a
direction decoding IC. the encoder_counts now returns the correct count. I
removed the velocity variable from the routine as well.
I think I changed encoder routines 2 and 4 and have the direction bits on 3
and 5.
I don't have them with me but I can send them if you want...
-Drew
> -----Original Message-----
> From: Joe Marie J. Maja [mailto:maja@robotics.is.tohoku.ac.jp]
> Sent: Wednesday, May 19, 1999 9:27 PM
> To: Fred G. Martin; HandyBoard
> Subject: Encoders
>
>
> Konnichiwa !!
>
> I am currently using the shaft encoder drivers of handy and it works
> fine, until I implemented a PID (Position Control). I need
> to check the
> direction of my mobot. Which means that - if it goes backward, I need
> to decrease the count and increase it if it goes forward.
>
> I tried to use 74HC74 to check the direction of the rotation of the
> encoder(My encoder have this sig A and sig B output).
>
> and run this code
>
> void check_right_encoder() /*process*/
> {
> while(1)
> {
> if (encoder1_counts!=0)
> {
> if(digital(8)==0) { /*check
> the direction
> of rotation */
> counter_r--;
> /*declared as global
> */
> encoder1_counts=0;
> }
> else
> {
> counter--;
> encoder1_counts=0;
> }
> }
> }
>
> This works fine.
>
> QUESTIONS:
>
> Is there anyone who have tried to do the same thing, but
> implemented it
> in assembly - .icb?
>
>
> joema
>
>
>
>
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