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:
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:
Comments
how did u control the
Motion control profiler
currentSpeed = currentSpeed + acceleration;currentPosition = currentPosition + currentSpeed
http://www.barello.net/Papers/Motion_Control/index.htm
Post new comment