https://rsewiki.electro.dtu.dk/index.php?action=history&feed=atom&title=Sd84_plug-in 2026-06-18T01:51:45Z Revision history for this page on the wiki MediaWiki 1.41.1 https://rsewiki.electro.dtu.dk/index.php?title=Sd84_plug-in&diff=848&oldid=prev 2011-06-12T18:00:05Z

<p>New page: For board specifications see http://www.robotshop.com/ca/PDF/devantech-sd84-servo-controller-specifications.pdf The rhd-plugin divides the 84 channels into 8 A/D inputs, 36 digital inputs...</p> <p><b>New page</b></p><div>For board specifications see http://www.robotshop.com/ca/PDF/devantech-sd84-servo-controller-specifications.pdf<br /> <br /> The rhd-plugin divides the 84 channels into 8 A/D inputs, 36 digital inputs (except for 8 inputs used by A/D), 24 digital outputs and 24 servo channels.<br /> <br /> The following RHD variables are defined:<br /> <br /> &#039;&#039;&#039;read:&#039;&#039;&#039;<br /> * version, 8 values, 2 bytes (currently 84,4) for each CPU;<br /> * sd84ad, 8 values, each channel returns a 10bit value in the range 0..1023. Channel AN1..AN8.<br /> * sd84in, 36 values, 8 values are not set, as they are used as A/D inputs. Channels CH1..36&quot;.<br /> * steeringChangedTo, one value set by this plugin to inform the speed control plugin to change speed for the driving wheels.<br /> <br /> &#039;&#039;&#039;write:&#039;&#039;&#039;<br /> * sd84out, 24 values, values (0 or 1) are output to channel CH37 to CH60.<br /> * sd84servo, 24 values, values range about 700 to 2200 for pulse width in usec - center should be 1500. Channels are CH61 to CH84.<br /> * steeringangleref, one value, is the desired steering angle, and - if set - will control the the two servoes at CH67 and CH68.<br /> <br /> === Method ===<br /> <br /> Two of the servis are used for an ackerman steering - servo 6 and 7 on channel 67 and 68.<br /> The steering is taken from a RHD variable steeringangleref</div>

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