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In lugnet.robotics.nxt.nxthacking, Jeremy Rand wrote:
> In lugnet.robotics.nxt.nxthacking, Takashi Chikamasa wrote:
> > Currently, LEJOS OSEK does not provide abstracted API such as you asked.
> > I agree that LEJOS OSEK should provide more sophisticated API for ease of use.
> > I hope someone will raise his/her hand to write such framework library.
> Hmm, how hard would it be to just copy some of those functions from NXTGCC and
> use them in LEJOS OSEK? Would they require significant modification?
>
> Thanks,
> Jeremy Rand
Actually, implementing a closed-loop motor control in LEJOS OSEK is not
difficult. I already have done for NXTway-DS(complex state space feedback) and
NXT GT(P control for motor rev. angle). A significant factor to implement a
close-loop motor control is that the control algorithm has be invoked in a
periodical Task. LEJOS OSEK provides OSEK based scheduling feature to do so.
What kind of close-loop motor controls are required in general?, motor rev.
angle control by using PID/PI/P controlers?, or something else?
Any feedback is welcome,
Takashi
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Message has 1 Reply:
 | | Re: Real C/C++ Programming Solution?
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| (...) The closed-loop features I'd like would be comparable to those implemented in the Charmed Labs Xport Botball Controller (see charmedlabs.com and botball.org) - PID control of velocity, with a "move to position" command and preferably (not (...) (17 years ago, 10-Aug-07, to lugnet.robotics.nxt.nxthacking)
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