PENGUIN ROBOT Tiny MCE

Humanoido

Title: Penguin Robot Tiny Motion Control Engine
Code Name: penguin_tiny_mce.bpx
Purpose: A tiny smooth Motion Control Engine MCE that uses
minimal code and minimal memory

Check out this new tiny motion control engine for Penguin
Robot. It's drop in code that fits in just about every program!

humanoido

Calibration - VERY Important!
For this program to properly run, Penguin Robot must be first
calibrated with: penguin_automatic_servo_calibrator.bpx
http://forums.parallax.com/showthread.php?p=671204

' Penguin's new simple motion control engine! Simple MCE.
' Finally, the minimum control engine is here! - "Making space for
' the rest of your code!" Simple MCE strips away the unnecessary
' and leaves only the essential. Smooth like you want - Code you can
' use - code you can understand.

' Smooth motion is built into this code. Penguin Robot may need
' mechanical adjusting to fully realize the accuracy of these
' motions.

' This demo illustrates a simple control method for both servos
' and performs some tilting motions. It uses a minimum amount of
' EEPROM memory (7%), and only 3 words in RAM. It easily expands to
' include various tilt and stride motions placed inside the MCE.

' The code contains only 3 startup lines, and only 6 lines
' of code to do the axis motion demo.

' The code includes startup, reads the center values of tilt and
' stride from memory and performs centering of both tilt & stride
' servos. A side to side motion is created, one cycle is completed
' and the motion repeats. STEP sets speed. +/-(255) is the tilt from
' center position. The code will perform a complete cycle of center
' tilt and stride, tilt left, tilt right, and center tilt and stride.
' A pause will take place at the end of each cyle, and the cycle
' will repeat.

' This demo is a good test for tilt/stride homing, checking
' calibrations at a glance for tilt and stride, checking tilt servos,
' checking for range and accuracy, repeatability, and symmetry on
' both sides of the center axis. It also makes a good drop in code
' when motion control is needed but memory is at a premium. Code can
' also be adapted to the BS1.

Updated version v1.6 posted on 6/28/08

Post Edited (humanoido) : 6/27/2008 5:35:29 PM GMT

Humanoido

This is the old version.
penguin_tiny_mce.bpx

This is the new version.
penguin_tiny_mce_v1.6.bpx

Please replace the old version with the new version.
It has some very good improvements.

humanoido