Re: [iPAQ] Help : accessing the extension port (FAST IO mode) of the ipaq

>
> Control loop as I used it means: read sensors, calculate actions, apply
> outputs.
>
> Reading the encoders, in my purposed solution, should be done by the
> microcontroller (at 5KHz or something like that) and the *total count*
> should be sent to the iPaq at 50Hz.
>
> The iPaq should never have to do low-level stuff like reading encoders
> or generating PWM's.
>
> The iPaq should be doing more mid-level (the encoder on motor A moved 23
> ticks and on motor B 16 ticks so my current position is <X,Y>) and
> high-level stuff ("where should I go", "build world map", etc.).
>

Sorry, I need to precise a little bit : there a PLD counting the "ticks"
through the Chan A and Chan B from the motors and which increments the
motor position.

But we want to control the motors with the ipaq on the mid-level as you
call it : we want to "emulate" a motor controler like the LM 629 with
our software (the rest of the team doesn't want to use hardware motor
control, don't ask me why :(), so we have to control the trajectory of
our robot with the ipaq !!!! That's why I need a big refreshing on the
motors. We have also noticed that with a 50 Hz (as you propose) refresh
rate to calculate position, at our speed, the error is too big and we
have a very big error afer 30 seconds ... that's why we need a big
refreh rate !!!!

For sure, we could have done this as you propose it, but for a obscure
reason my team didn't decide to do so !!!!

Val
Received on Thu Jan 15 2004 - 15:03:53 EST