Commit b512201b authored by Jake Read's avatar Jake Read
Browse files

log cl control success

parent 7ff7ea21
......@@ -11,6 +11,12 @@ These are stepper drivers! They run:
The hardware is set up to run on the 'UCBus', a synchronous embedded protocol that establishes a bus clock *and* data lines on one RS485/UART Phy. Details are not documented anywhere ATM, but it w o r k s.
## Closed Loop
Circuits have a land for an AS5147P encoder, with which they can run closed-loop stepper control:
![cl](log/2021-02-25_cl-step-perf.mp4)
## Melted Version V02
I revisioned this recently to skip the module and just build the whole circuit on one board. Schematic is identical to V01, but now is much smaller (can fit on a NEMA14 size motor) and all components are SMT on one side, i.e. the AS5047P is on the same side as the H-Bridges, Micro etc.
......
......@@ -198,7 +198,7 @@ pidSetBtn.onClick(() => {
let angleRandoBtn = new Button(10, 400, 94, 14, 'targ')
angleRandoBtn.onClick(() => {
let targ = Math.random() * 200 - 100
let targ = Math.random() * 360
vm.setTarget(targ).then(() => {
angleRandoBtn.good(`${targ.toFixed(3)}`, 250)
}).catch((err) => {
......@@ -219,7 +219,7 @@ angleWrapBtn.onClick(() => {
// units per revolution
let uprVal = new TextInput(10, 460, 100, 20, '40')
let uprVal = new TextInput(10, 460, 100, 20, '59.6929')
let uprBtn = new Button(10, 490, 94, 14, 'upr')
uprBtn.onClick(() => {
......
......@@ -1405,4 +1405,10 @@ OK, all seems sound now. So tomorrow would be about setting this up in a 'real s
- match vm api,
- build clank-stretch
- put it on the bus, check if all commands can still op. through the bus: this is higher bandwidth, check for drops etc, maybe you have to fix those now
- configure to grab positions from the bus, you'll be mixing closed- and open-loop motors not irregularely.
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- configure to grab positions from the bus, you'll be mixing closed- and open-loop motors not irregularely.
## 2021 02 25
FWIW I made a demo of this today, and it looks pretty good:
![perf](2021-02-25_cl-step-perf.mp4)
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