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pombreda / cmd-robot

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New motor interface and PWM channels #9

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
When I tell the Arduino to PWM when the digitalWrite() value is low, it inverts 
the commands sent to it.  This could be useful for automatic inverting of 
motors for turning (now that I think about it) but could also cause some 
problems.

For now, there are 4 PWM channels used for 2 motors, this needs change if we 
plan on adding any more motors or capabilities.

I can experiment with this on Wednesday the 21st of November after the maths 
exam or on Friday we I do not work :).

Original issue reported on code.google.com by cian.by...@sydstu.catholic.edu.au on 12 Nov 2012 at 10:19

GoogleCodeExporter commented 9 years ago 
In regard to the plan for multispeed capable motors I have attached below a 
diagram which explains the concept of load shifting.

Explanation of diagrams:

  * The Speed and Torque arrows point towards their greatest possible values
  * The blue rectangles depict the motors with the label indicating the torque/speed
  * The dotted blue line indicated whats happens with increase/decrease of either speed or torque
  * Each motor type is allocated a section in which the program decides is its "effective" operating range. As the speed level is required to increase a hypothetical slider moves along the dotted blue line. The lines perpendicular indicate the motor's operating ranges a motor can operate approximately 2 lines out of it (or until it can take over or exhaust its job). For instance when the slider hits the purple line, the Low Speed motor is running at the same speed as the medium motor and as the speed increases the low speed motor will eventually cut off and the medium motor will possess full control. likewise for the Medium to High Speed Motor transition.
  * The semi-circles indicate the lowest speeds and highest speeds and are also exclusive meaning that the medium motor will have no control in those zones.

Attached below is a diagram to explain this concept!

Original comment by thomas.i...@sydstu.catholic.edu.au on 12 Nov 2012 at 10:43

Attachments:

GoogleCodeExporter commented 9 years ago 
Back to the issue of PWM channels, I will work on this later tonight...It is an 
issue that needs to be worked out very soon and I will test and reply back here 
when complete.  For now, I must do my maths homework. :D

Original comment by cian.by...@sydstu.catholic.edu.au on 13 Nov 2012 at 6:37

GoogleCodeExporter commented 9 years ago 
Motors will be ordered later.  they will be the 19:1 motors which the specs 
include:
- 500rpm@ 12 volts
- ~1000rpm @ 24 volts
- ~2000rpm @ 48 volts
- ~2500rpm @ 66 volts

Speeds to come later.

Original comment by cian.by...@sydstu.catholic.edu.au on 13 Nov 2012 at 9:30

GoogleCodeExporter commented 9 years ago 
Haven't got around to posting the speeds.  I think I can do it now...

Original comment by cian.by...@sydstu.catholic.edu.au on 16 Nov 2012 at 11:54

GoogleCodeExporter commented 9 years ago 
Package is almost here!

Original comment by hacker16...@gmail.com on 18 Nov 2012 at 11:25

GoogleCodeExporter commented 9 years ago 
I know: http://www.fedex.com/Tracking?tracknumbers=527940027759

So Exciting!! :D

Original comment by cian.by...@sydstu.catholic.edu.au on 18 Nov 2012 at 8:30

GoogleCodeExporter commented 9 years ago 
The single channel PWM control interface has been completed.

The motor issue has moved to issue 11.

Original comment by cian.by...@sydstu.catholic.edu.au on 6 Dec 2012 at 10:58