Inspection robot: Difference between revisions
| Line 11: | Line 11: | ||
Green towards motor | Green towards motor | ||
yellow center | yellow center | ||
Red away from motor | Red away from motor. | ||
- or maybe more likely, motor is turned 180 deg. | |||
* Power: | * Power: | ||
Revision as of 13:46, 25 September 2014
Installation and use noted for 6-legged inspection robot.
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.
- or maybe more likely, motor is turned 180 deg.
- Power:
At least 6.5V - to allow regulator to give 5V
- Layout of servo-print with connections. Looks like Vbatt-P is connected to pot-, this can not be right?
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)
