I'm trying to do autonomous sumo robots at my school and want to be able to use other motors besides the servo's.· I have a sozbot controller's and was wondering if I could use those?· And how I would do that?
I have bad news for you, the SOZDSCR2D was designed to drive DC motors using an RC receiver. The output of the RC receiver is PWM, and there are two channels (meaning two PWM signals). As such using the PBASIC PWM command was only designed to generate a single PWM channel, so you can't really use the built in command to drive both channels of your SOZDSCR2D. But you can design your own dual channel PWM control (if you arn't doing anything else while doing the PWM). Im leaving work now, but if you want more info, I can fill in more detail for you.
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔ ·1+1=10
Post Edited (Paul Baker) : 7/25/2005 10:19:52 PM GMT
Ok this isn't as difficult of a task as I first anticipated, Servo PWM signals·are·1.3 mS to 1.7 mS pulse every 20 mS. ·Look at pages 67, 76 and 78 of the Robotics V2.2 text for an overview. For the BS2 the pulses are values 650 through 850 with 650 being center (off).
CH1Value VAR Word
CH2Value VAR Word
Do
PULSOUT CHANNEL1, CH1Value
PULSOUT CHANNEL2, CH2Value
IF (CHSelect = 1) THEN
CH1Value = 650 + INL
ELSE
CH2Value = 650 + INL
ENDIF
PAUSE 20
LOOP
··This code sends the servo control signal for two channels, CH1Value and CH2Value are·the pulse width of each Channel in 2 uS resolution, the code after the two PULSOUTs reads the value of CHSelect which is an input pin (one of IN8-IN15) which indicates what channel the value on the low byte of your input pins refers to, the value on the low byte is read and added to·650 and stored in the corresponding channel value. The·input value can be from 0 to 200, values higher·than·200 may produce unexpected results.
· The PAUSE statement for 20 mS may be too long since your doing another pulse and some computations, so you may need to reduce this value. http://www.emesystems.com/BS2speed.htm·shows relative execution times of BS2 commands and can provide some guidance what a more appropriate value to PAUSE is.
· If you need to perform more calculatations you'll need to adjust the PUASE command even more, and you'll also need to make sure the code does not take more than 20 mS, and finally if your code branches you should make sure it takes aproximately the same amount of time to execute the code regardless which branch is·taken (by inserting PAUSES in the shorter branches).
Not all code was provided, CHSelect, CHANNEL1, CHANNEL2 need to be defined, and CHANNEL1 and CHANNEL2 pins need to be set as output.
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔ ·1+1=10
Post Edited (Paul Baker) : 7/27/2005 4:21:44 PM GMT
Comments
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
·1+1=10
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
·1+1=10
Post Edited (Paul Baker) : 7/25/2005 10:19:52 PM GMT
Thanks
Mike
CH1Value VAR Word CH2Value VAR Word Do PULSOUT CHANNEL1, CH1Value PULSOUT CHANNEL2, CH2Value IF (CHSelect = 1) THEN CH1Value = 650 + INL ELSE CH2Value = 650 + INL ENDIF PAUSE 20 LOOP··This code sends the servo control signal for two channels, CH1Value and CH2Value are·the pulse width of each Channel in 2 uS resolution, the code after the two PULSOUTs reads the value of CHSelect which is an input pin (one of IN8-IN15) which indicates what channel the value on the low byte of your input pins refers to, the value on the low byte is read and added to·650 and stored in the corresponding channel value. The·input value can be from 0 to 200, values higher·than·200 may produce unexpected results.
· The PAUSE statement for 20 mS may be too long since your doing another pulse and some computations, so you may need to reduce this value. http://www.emesystems.com/BS2speed.htm·shows relative execution times of BS2 commands and can provide some guidance what a more appropriate value to PAUSE is.
· If you need to perform more calculatations you'll need to adjust the PUASE command even more, and you'll also need to make sure the code does not take more than 20 mS, and finally if your code branches you should make sure it takes aproximately the same amount of time to execute the code regardless which branch is·taken (by inserting PAUSES in the shorter branches).
Not all code was provided, CHSelect, CHANNEL1, CHANNEL2 need to be defined, and CHANNEL1 and CHANNEL2 pins need to be set as output.
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
·1+1=10
Post Edited (Paul Baker) : 7/27/2005 4:21:44 PM GMT