Subject:
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Re: time sampling under the rcx standard OS
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Newsgroups:
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lugnet.robotics.rcx.nqc
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Date:
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Sat, 17 Sep 2005 13:57:43 GMT
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Viewed:
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5958 times
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On Sat, September 17, 2005 2:59 am, Francois Bardet wrote:
> I heard that BrickOS might allow a more reliable time control, but I'd
> appreciate a solution to keep me using the standard OS and NQC !
From what I've seen, the standard firmware takes about 3ms per command, and the same
program will run on BrickOS about 100 times faster. I usually set up my BrickOS
programs so they use the internal timer, and only update the motor setting every 1
ms.
> task main()
> {
> SetSensor(SENSOR_2,SENSOR_ROTATION);
> SetPower(OUT_A,1);
> while(true)
> {
> int actif=SENSOR_2;
> int passif=10-actif;
> OnFwd(OUT_A);
> Wait(actif);
> Off(OUT_A);
> Wait(passif);
> SetUserDisplay(actif,0);
> }
> }
I have to ask what kind of value you're expecting from SENSOR_2. The sensor will
return a distance, not a velocity, so I don't think this program will do what you
may want.
If you want to install BrickOS, John Hansen has some prepackaged stuff on his
Bricxcc page: http://bricxcc.sourceforge.net/
And, here's a robot that uses PID-type stuff with BrickOS that a lot of people find
interesting: http://www.teamhassenplug.org/robots/legway/
Steve
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Message has 1 Reply:
 | | Re: time sampling under the rcx standard OS
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| (...) Sorry, I didn't explain. This program only aims at checking the loop frequency capability of the rcx firmware, implementing a PWM. The rotation sensor is only used as a potentiometer knob, allowing me to determine by hand the PWM pulse as (...) (19 years ago, 19-Sep-05, to lugnet.robotics.rcx.nqc)
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Message is in Reply To:
| | time sampling under the rcx standard OS
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| Hi list, I'm trying to implement a position regulation (using a motor and a rotation sensor), using for instance a PID (Proportional-Integr...erivative) regulation. I tried to code it in NQC, using the standard OS, but it seems that the RCX loops at (...) (19 years ago, 17-Sep-05, to lugnet.robotics.rcx.nqc)
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