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In lugnet.robotics.nxt.nxthacking, Takashi Chikamasa wrote:
> 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
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
required) control of acceleration as well. Other features that would be nice
would be the motor-syncing capabilities of the official NXT firmware, although
that's not required.
As far as I know, the official NXT firmware has all or at least most of the
features I need. Any idea how hard it would be to copy the motor control code
from the official NXT firmware and put it in LEJOS OSEK?
Also, one other question: I notice that the LEJOS OSEK documentation only covers
loading programs into SRAM, not Flash. Is this behavior easy to change? I
would personally prefer loading programs into Flash rather than SRAM.
Thanks,
Jeremy Rand
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Message has 1 Reply:
 | | Re: Real C/C++ Programming Solution?
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| (...) LEJOS OSEK also supports the program upload to Flash. However, I intentionally do not describe it in the docs. I am not sure about the life cycle of Flash in the ATMEL ARM7 very well, however, some lugnet discussions told me that the lifecyle (...) (17 years ago, 15-Aug-07, to lugnet.robotics.nxt.nxthacking)
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Message is in Reply To:
| | Re: Real C/C++ Programming Solution?
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| (...) 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 (...) (17 years ago, 8-Aug-07, to lugnet.robotics.nxt.nxthacking)
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