Well, it has taken a while but I have finally got the motion control properly underway. Code details will follow shortly. In the meantime, you can see the beast move on YouTube:
This should be the embedded video:
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how did u control the acceleration? I am real puzzled about that, adding on the fact that that im using dc motors, im am really really confused.
If you look in the other Primus sections, you should find the code for the mouse. There is also a description of how the stepper acceleration can be achieved.
For a DC mouse, the same process can be used. Generally, this is done by creating a series of positins and feeding these to a controller. That controller’s only job is to maintain the mouse at a fixed position.
On every control cycle tick, we do sums like this:
currentSpeed = currentSpeed + acceleration;
currentPosition = currentPosition + currentSpeed
You can find quite a good writeup of how this is done here:
http://www.barello.net/Papers/Motion_Control/index.htm