3 servos with 3 cogs (parallel)
nomad
Posts: 276
hi,
i would develop a quadrobot 3DOF (hardware & software)
for this propose
now i·write some·spin-programs for one leg with 2 button for testing.
the leg are 3 servos and i would that on every servo are working 1 cog.
there, every servo have a different moving-direction and (for the
future) different speeds.
the 2 attachments are:
1) servoLeg1.spin = normal programm with 3 servos and 2 buttons
··· - 1 cog
··· its run verry smooth and fast
2) servoLeg2.spin = my trial with 3 servos·· = cog 1-3
············································ 2 buttons = cog 0
··· its running, but not so smooth and always slower.
have you some improments and tips for me and this program???
thanks for the help
regards
nomad
i would develop a quadrobot 3DOF (hardware & software)
for this propose
now i·write some·spin-programs for one leg with 2 button for testing.
the leg are 3 servos and i would that on every servo are working 1 cog.
there, every servo have a different moving-direction and (for the
future) different speeds.
the 2 attachments are:
1) servoLeg1.spin = normal programm with 3 servos and 2 buttons
··· - 1 cog
··· its run verry smooth and fast
2) servoLeg2.spin = my trial with 3 servos·· = cog 1-3
············································ 2 buttons = cog 0
··· its running, but not so smooth and always slower.
have you some improments and tips for me and this program???
thanks for the help
regards
nomad
Comments
Graham
RoboGeek
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"I reject your reality and subsitute my own!"
Adam Savage, Mythbusters
www.parallax.com
www.goldmine-elec.com
www.expresspcb.com
www.startrek.com
·
that's right
regards
nomad
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Cheers,
Simon
BTW: I type as I'm thinking, so please don't take any offense at my writing style
www.norfolkhelicopterclub.co.uk
You'll always have as many take-offs as landings, the trick is to be sure you can take-off again ;-)
Simon is right, "I think the servo32 object (object exchange) will do this without breaking a sweat".
The servo32 object can handle up to 32 servo's in the background (<-set and forget) using only 1 cog.
If you need to make a position update simply assign the new value to the appropriate servo. There is no
overhead maintenance other than when you want to change the servo position.
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Beau Schwabe
IC Layout Engineer
Parallax, Inc.
I think what nomad is working toward (I'm thinking along similar lines myself for different reasons) is to make a "Leg" object that is somewhat "self aware" of how to move the servos to put itself in a given position, or based on timing, execute a walking gate. I don't think he's just after controlling the servos.
That said, I've got a hexapod (six legs) with 3DOF legs (18 servos) and the Servo32 object works great! I just wish it had raming built in... That's were my "leg" objects will probably come in. I'll have the leg object do the raming, and send the appropriate postion updates to the Servo32 object. (Currently, all the work is being done of the PC side, and leg position commands are send to the Prop, and from there to Servo32.)
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John R.
Click here to see my Nomad Build Log
zitate:
<<
I think what nomad is working toward (I'm thinking along similar lines
myself for different reasons) is to make a "Leg" object that is somewhat
"self aware" of how to move the servos to put itself in a given position,
or based on timing, execute a walking gate. I don't think he's just after
controlling the servos.
>>
you are right, for me it's difficult to descrip my base-idea. (my bad english)
for me is a leg a stateMachine.
for research look rodney brooks at.al (MIT & genghis).
a statemachine (AFN) have some rules (this rules are dynamical setting from sensors &
the directives of a pc-program which running one of more artifical neural-nets.
also. a leg is a masterStateMachine who thinK about his state and communicate with his
leg-cogs· and the other-leg-cogs (the other 3 legs) and then after thinking he said the
another cogs what they are doing for one leg.
it's difficult to programm and to discuss, therefor, every servo is a statemachine
also every servo is 1 cog!!
my question is only: are statements of my spin-program correct i.e.
- cog0 = 2buttons
- cog1 = servo1
- cog2 = servo2
- cog3 = servo3
!!! every servo can have different moving-directions & speeds
and how can i program more smooth & speed???
for any considerations and program-tips i am happy.
thanks
regards
nomad
Graham
thanks for your answer,
i am looking for (my bad english....)
its so, the code is only for testing, when i build the hardware of the legs
(position of the shoulder etc.)
now my newest code.
i find, its look better
cognew() will call only 1 times·for every cog
have somebody a better solution???
thanks
regards
nomad
{ servoLeg4.spin **************************************************************************** References Schematics & Pins: Original Pins: - p0 is the Button S1 control the pulse + - p1 is the Button S2 control the pulse - - p2 is for the servo-Pulse- Servo1 Shoulder (Swing For/Back) - p3 is for the servo-Pulse- Servo2 Shoulder (Swing Up/Down) - p4 is for the servo-Pulse- Servo3 Elbow (Swing Up/Down) - schematics ServoPulse = Px -> 4.7K -> to servoSignal - button-circuit: as my servoTestBoard_NEW.jpg s1 pin 1 = gnd -> 4.7K -> to board VSS (p29) pin 2 = +3.3volt -> to board VDD (p32) pin 3 = signal -> to boardPin p0 S2 pin 3 = signal -> to boardPin p1 pin 2 = +3.3volt -> to board VDD (p32) pin 1 = gnd -> 4.7K -> to Board VSS (p29) ******************************************************************************** } CON _CLKMODE = RCFAST ' _XINFREQ = 5_000_000 ' Frequency on XIN pin is 5 MHz VAR long cogStack1[noparse][[/noparse]12] ' Stack space for new cog1 long cogStack2[noparse][[/noparse]12] ' Stack space for new cog2 long cogStack3[noparse][[/noparse]12] ' Stack space for new cog3 VAR long pulsetime1, pulsetime2, pulsetime3 long periode1, periode2, periode3 long new_periode1, new_periode2, new_periode3 long timebase PUB Main Init cognew(ShoulderServo1,@cogStack1) cognew(ShoulderServo2,@cogStack2) cognew(ElbowServo3,@cogStack3) repeat ShoulderServo1 ShoulderServo2 ElbowServo3 PUB Init periode1 := ((clkfreq / 100_000) * 2000) ' 20ms periode2 := ((clkfreq / 100_000) * 2000) periode3 := ((clkfreq / 100_000) * 2000) pulsetime1 := ((clkfreq / 100_000) * 150) ' 1,5ms pulsetime2 := ((clkfreq / 100_000) * 150) pulsetime3 := ((clkfreq / 100_000) * 150) dira[noparse][[/noparse]0]~ ' Pin1 set input (button s1) dira[noparse][[/noparse]1]~ ' Pin2 set input (button s2) dira[noparse][[/noparse]2]~~ ' Pin2 set output Servo1 outa[noparse][[/noparse]2]~ ' Pin2 set low dira[noparse][[/noparse]3]~~ ' Pin3 set output Servo2 outa[noparse][[/noparse]3]~ ' Pin3 set low dira[noparse][[/noparse]4]~~ ' Pin4 set output Servo3 outa[noparse][[/noparse]4]~ ' Pin4 set low timebase := cnt PUB ShoulderServo1 ' generate servopulse Servo1 outa[noparse][[/noparse]2]~~ waitcnt (timebase += pulsetime1) outa[noparse][[/noparse]2]~ if ina[noparse][[/noparse]0] == 1 'if taster pulsetime + 0,1ms pulsetime1 += (clkfreq / 100_000) if ina[noparse][[/noparse]1] == 1 'if taster pulsetime - 0,1ms pulsetime1 -= (clkfreq / 100_000) new_periode1 := periode1 - pulsetime1 'periodendauer - pulsdauer waitcnt (timebase += new_periode1) 'wait for periode end PUB ShoulderServo2 ' generate servopulse Servo2 outa[noparse][[/noparse]3]~~ waitcnt (timebase += pulsetime1) outa[noparse][[/noparse]3]~ if ina[noparse][[/noparse]0] == 1 pulsetime2 += (clkfreq / 100_000) if ina[noparse][[/noparse]1] == 1 pulsetime2 -= (clkfreq / 100_000) new_periode2 := periode2 - pulsetime2 waitcnt (timebase += new_periode2) PUB ElbowServo3 ' generate servopulse Servo3 outa[noparse][[/noparse]4]~~ waitcnt (timebase += pulsetime3) outa[noparse][[/noparse]4]~ if ina[noparse][[/noparse]0] == 1 pulsetime3 += (clkfreq / 100_000) if ina[noparse][[/noparse]1] == 1 pulsetime3 -= (clkfreq / 100_000) new_periode3 := periode3 - pulsetime3 waitcnt (timebase += new_periode3)·