reading wheel encoders
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I am working with a BOEBot containing a BS2. The servos are
outfitted with optical wheel encoders, one on the right and one on
the left. The wheel encoders used have two channels, A and B, and an
index. Ideally I would like to be able to read the right and the
left wheel encoder and compare them in order to determine the
direction that the robot is traveling/turning. Unfortunately, I am
not sure exactly how to interface this with the BS2. From what I
have found reading the BS2 manuals and in this group, the BS2 cannot
multitask, no interrupting or polling, but there are some ICs out
there such as the PAK-III,IV,VII and others that I might be able to
use. I am unclear on if they would help. Can the PAKs be programmed
to receive pulses from two different channels and do some
calculations to determine movement direction independent from the
Basic Stamp? Or do they just take in the pulses? Anyone that has
troubleshooted this before? The problem that I am seeing is that BS2
pulsout commands drive the servos, and pulses are being sent from the
encoders but not being read because the stamp is busy until the
servos are done turning.
Much thanks to anyone that can help me out here.
Paul
outfitted with optical wheel encoders, one on the right and one on
the left. The wheel encoders used have two channels, A and B, and an
index. Ideally I would like to be able to read the right and the
left wheel encoder and compare them in order to determine the
direction that the robot is traveling/turning. Unfortunately, I am
not sure exactly how to interface this with the BS2. From what I
have found reading the BS2 manuals and in this group, the BS2 cannot
multitask, no interrupting or polling, but there are some ICs out
there such as the PAK-III,IV,VII and others that I might be able to
use. I am unclear on if they would help. Can the PAKs be programmed
to receive pulses from two different channels and do some
calculations to determine movement direction independent from the
Basic Stamp? Or do they just take in the pulses? Anyone that has
troubleshooted this before? The problem that I am seeing is that BS2
pulsout commands drive the servos, and pulses are being sent from the
encoders but not being read because the stamp is busy until the
servos are done turning.
Much thanks to anyone that can help me out here.
Paul