Subject:
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Re: BrickOS Threading...
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Mon, 16 Dec 2002 21:54:14 GMT
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Viewed:
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2961 times
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> I downloaded the Legway stuff and have been having fun. I did
> have to do some tuning since I bought one of the proximity sensors instead
> of the EOPD (they didn't have it yet.) I have been trying to understand
> your code and found the motor driver code interesting. You obviously
> bounced off the same problem we all find namely that setting the power
> level doesn't give useful control over robot speed.
>
> It looks like you have implemented your own version of PWM and the question
> is why does it work better than the BrickOS PWM (which more or less copies
> the RCX PWM?) I can see two areas of possible difference. The first is that
> your period is different from the default. Your period comes from (sys_time
> & 7) which is an 8 msec period. The other difference is that you switch
> between motor on and motor in brake mode (whatever that is.)
To tell you the truth, I'm not exactly sure how the BrickOS PWM works, but
I do know the standard RCX PWM simply switches the motors between ON and
FLOAT, which will not slow the motor down, when it switches from a high power,
to a lower power. My code switches between ON and BRAKE.
If you don't know the difference between Float and Brake, first take a motor,
and spin it with your fingers. Then, connect one end of a wire to the motor,
and loop the other end back and put it on the first connector, so the wire
goes out the same side on BOTH connectors. Then, try turning the motor again.
You'll notice it's MUCH harder to turn. (if not, try turning the second wire
connector)
> I think the work you are doing could be generalized and possibly folded
> back into BrickOS as a special mode of the motor driver.
I like my motor driver, because it only requires 1 parameter to set the
speed & direction. But that doesn't mean anyone else will like it...
Steve
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