Mechanics and Construction > Mechanics and Construction
TAURUS2
Admin:
--- Quote ---hey admin, what would you have done if something would of jammed the wheel from turning around the vertical axis.
You would have 1 wheel that wouldnt be hardcoded unless yo forced the servo back
--- End quote ---
well, servos are guarenteed to go to the proper angle, unless they break . . . :P
the bigger issue i had was my profuse use of superglue and packaging tape to build T2 added to a total lacking of apriori planning . . . i was such a bad engineer in those days . . .
gamefreak:
servos move based on a pulse, or at least continous rotation do, With 180 degrees there is a feedback and i thought that you controlled them in a different way then just sending pulse after pulse to turn them.
if say you needed a continous rotation servo to go 90 degrees in 1 second and something held it in place for half a second then the servo would only get to 45 degrees.
So if you had continous rotation for the vertical axis then if something got it stuck momentarily then it would not be at what it should be.
right?
Admin:
Oooohhhh ok I see what you meant.
Actually, my microcontroller never stopped sending commands to the servos, no matter what. So if something blocks the servo, as soon as the 'blockage' is removed, the servo will go to the correct angle.
The problem you mentioned would of course be a problem if at any point my microcontroller stopped sending signals to the servos during the time the servo was blocked.
gamefreak:
i is confused, even if the microcontroller kept sending if the wheel got stuck at any point and you dont know what angle the wheel is at then it will start to lag behind the other wheels.
since the servos move based on the pulse duration and height or something liek that then:
send a pulse of 10 to all vertical servos
bottom right gets lagged for 5 of those so....
top right =10
top left=10
bottom right=5
bottm left=10
send pulse of -5
top right =5
top left=5
bottom right=0
bottm left=5
so if a continous rotation servo gets stuck then it will stay behind due to the fact that you have no way of knowing the angle of that servo.
Admin:
Servos have internal feedback control. So if I tell it to go to 20 degrees, it wont stop rotating until its reached 20 degrees.
If its being commanded to go to 20 degrees and I try to force it with my hand to rotate, it will try its darnest to stay at 20 degrees.
Your microcontroller doesnt need to know what angle the servo is at, because it can trust the servo to do what it is told.
When you modify a servo, all you are really doing is tricking the servo feedback device that it isnt rotating when the servo really is. If I would tell a modified servo to go to 20 degrees, it will keep rotating thinking it hasnt reached the right angle yet.
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