Archive for the ‘Primus’ Category
Saturday, March 22nd, 2008
After a bit of a break, I have done some more work on Decimus, my DC micromouse. With all the peripherals tested and working, I have been concentrating on the motion controller or profiler. This has turned out to be harder than I expected. The basic idea is simple ...
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Tuesday, December 4th, 2007
After a lot of messing about with other stuff, Primus is now back on track and has the basic motion code written and installed. Movement within the maze is possible with steering off the walls to prevent collisions; fixed size moves and in-place turns are functioning; forward ...
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Tuesday, November 20th, 2007
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:
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Wednesday, September 19th, 2007
The sensors are a critical part of a micromouse. Primus uses six infra-red reflective sensors. Here is code to test that they are working.
Now that we have a nice display to show what the sensor reading are, we can get that module tested. Since the hardware is very simple, there ...
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Tuesday, September 18th, 2007
This is a fairly big jump. With the LEDs and buttons tested, it is time to add the main graphical display, made from a Nokia cellphone display. Also, there is the main system timer event.
The simple user IO is working, and it is time to add a system timer. ...
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Sunday, September 16th, 2007
After a bit more thought, there is now a new set of pin assignments for the Primus micromouse, along with a corresponding schematic.
The problem with Primus was that it is not possible to generate two independant pulse trains from the PWM generators. All the PWM channels have to share a ...
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Sunday, September 9th, 2007
It seems I made a bit of a mistake in how I thought the dsPIC could drive its PWM module. Consequently, there will have to be some changes.
First, what can't change is the need to use T1CK and T2CK as external inputs to count motor pulses. There are no other ...
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Sunday, September 9th, 2007
The next stage in testing the Primus hardware is to make sure the buttons are working.
Building on Primus 1, the button hardware is tested in the simplest possible way. Calling the readButton() function sets a number of exported variables indicating the button status.
These are tested inside a loop in the ...
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