The hardwired range is outside of the programmable limits and hopefully
detects broken pot wires and prevents moving motors for pot values too
close to +5 or 0 volts for normal pot operation.
For individual motors using potentiometer feedback (for arm, low-current
drivers).
Commands:
Report pot reading and status.
Set limits
Set position (future enhancement: add speed getting there)
Note: position is specified as an integer percentage of limits. Limits
are specified as actual pot readings. Experimenter readings are 0 to
5115 in increments of 5 (10 bit). New modules will initially be 0 to 255
in increments of 1 (8 bit), will eventually be 0 to 1023 in increments
of 1 (10 bits).
Normal Status:
Idle, no commanded position
Idle, at position
Moving direction 1
Moving direction 2
Error Status:
Outside of range (open pot connection, will not run)
Outside of limits (will run toward inside limits if given new command)
Stall (pot value not changing, motor stopped, will try again if given
another position command)
Command error (commanded position outside of limits)
Commands:
Report pot readings, PWM values and both motor status for each motor.
Set limits for each motor
Set position (future enhancement: add speed getting there)
Normal Status same as above plus:
Idle, waiting for other motor to catch up (we may not need this with
PWM control)
Error Status same as above plus:
Knees out of sync (motors stopped, will try to resync if given another
position command)
If you would like to refer to this comment somewhere else in this project, copy and paste the following link:
Ron, Please post the low level messages email you sent me to this forum, I lost it.
Note that high and low limits can be set.
The hardwired range is outside of the programmable limits and hopefully
detects broken pot wires and prevents moving motors for pot values too
close to +5 or 0 volts for normal pot operation.
---------------------------------------------------------
For individual motors using potentiometer feedback (for arm, low-current
drivers).
Commands:
Report pot reading and status.
Set limits
Set position (future enhancement: add speed getting there)
Note: position is specified as an integer percentage of limits. Limits
are specified as actual pot readings. Experimenter readings are 0 to
5115 in increments of 5 (10 bit). New modules will initially be 0 to 255
in increments of 1 (8 bit), will eventually be 0 to 1023 in increments
of 1 (10 bits).
Normal Status:
Idle, no commanded position
Idle, at position
Moving direction 1
Moving direction 2
Error Status:
Outside of range (open pot connection, will not run)
Outside of limits (will run toward inside limits if given new command)
Stall (pot value not changing, motor stopped, will try again if given
another position command)
Command error (commanded position outside of limits)
---------------------------------------------------------
For paired motors (high current driver, knees):
Commands:
Report pot readings, PWM values and both motor status for each motor.
Set limits for each motor
Set position (future enhancement: add speed getting there)
Normal Status same as above plus:
Idle, waiting for other motor to catch up (we may not need this with
PWM control)
Error Status same as above plus:
Knees out of sync (motors stopped, will try to resync if given another
position command)