Subject:
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Enhancing the motor driver
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Tue, 23 Feb 1999 18:15:37 GMT
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Viewed:
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1309 times
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Hi,
does somebody feel up to renovating the motor driver? We have discussed
a new PCM scheme earlier on the lego-robotics list, it's just a question
of implementing it. This will require changes to direct_motor.c and
direct_motor.h and a little assembler coding. All in all an easy way to
enter the Contributors file ;-)
Advantages: 65536 power settings instead of 8
Scheme : Modified Bresenham line algorithm
Pseudocode:
unsigned fraction, speed;
fraction+=speed;
if(overflow)
set_output_bit(current_direction);
else
clear_output_bit();
We'll loose one cycle in 65536 for propulsion at maximum speed, but I
think that's tolerable.
--
Markus L. Noga noga@inrialpes.fr
Check out legOS! http://www.multimania.com/legos/
"Quand on n'a pas de caractere, il faut bien se donner une methode."
-Camus on Software Engineering
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