Inspection robot
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===Software=== | ===Software=== | ||
Revision as of 17:25, 21 September 2014
Installation and use noted for 6-legged inspection robot.
Contents |
Servo with feedback
The servo software is build upon the "Open servo" project, with a slightly modified PCB.
Hardware
- Potentiometer mount:
Green towards motor yellow center Red away from motor
- Power:
At least 6.5V - to allow regulator to give 5V
- @todo:
insert picture of board with connections
Software
P value must be set to (about 50) to make servo run. This gives some overshoot for large steps. A D-value makes it worse.
Need to investigate control-part of servo.
Update rate seems to be slow (~10Hz) investigate.
EMF sense is not in software
Current has some reaction, but no reaction to load? - investigate.
RHD plugin
A new plugin is uploaded using USBISS converter to i2c - should be changed to i2c on target platform
Setting and main status for N servos (up to 24) implemented. Debug status for 1 servo implemented (first 48 registers are monitored)
Commands (write with register adress above 0x7f) is working
0x82 (130) enable PWM 0x83 (131) disable PWM etc - see main.c in software
Change of i2c address is not implemented/tested (there is a save to eeprom command)
