Robot Drummer - Revision history

Bobby By at 23:00, 20 March 2009

2009-03-20T23:00:22Z

2009-03-20T22:59:31Z

2009-03-20T22:54:15Z

Overview

2009-03-20T19:12:19Z

Results

2009-03-20T19:11:45Z

Results

2009-03-20T19:09:31Z

Results

2009-03-20T19:07:43Z

Results

2009-03-20T19:07:31Z

Results

2009-03-20T19:05:53Z

Quad Encoder

2009-03-20T19:04:26Z

I2C

@@ Line 1: / Line 1: @@
 [[ME_333_final_projects]]
-[[Image:Robot_Drummer.jpg|thumb|900pix|right|Robot Drummer]]
+[[Image:Robot_Drummer.jpg|right|thumb|1000px|Robot Drummer]]
 <br>

@@ Line 1: / Line 1: @@
 [[ME_333_final_projects]]
+[[Image:Robot_Drummer.jpg|thumb|900pix|right|Robot Drummer]]
+<br>
 ==Team Members==
@@ Line 16: / Line 19: @@
 ===Mechanical Overview===
 In this project, we were asked to demonstrate motor control of two separate motors running simultaneously.  It was thought that a simple way to visually demonstrate motor control and be aesthetically pleasing was to make a small drum set.
-[[Image:Robot_Drummer.jpg|thumb|400pix|left|Robot Drummer]]
 This drum set consisted of a base, a drum pad and two drum sticks.  All the parts were manufactured in the Northwestern machine shop, with materials supplied.  The motors are removable and can be switched by loosening the brackets that hold them down.  One of the main considerations was reusability of the motors and this setup allows easy removal or switching of motors from our device.

@@ Line 11: / Line 11: @@
 ==Overview==
-The goal of this project was to create a high speed motor controller which can receive commands and be modified through MATLAB, so that anyone could take a couple motors and a few dollars worth of hardward and implement accurate high-speed encoder-based feedback control. MATLAB sends commands via RS232 serial connection to a "master" PIC which in turn communicates with a number of "slave" PICs to initiate motor control. To demonstrate this, the Robot Drummer was created.
+The goal of this project was to create a high speed motor controller which can receive commands and be modified through MATLAB, so that anyone could take a couple motors and a few dollars worth of hardware and implement accurate high-speed encoder-based feedback control. MATLAB sends commands via RS232 serial connection to a "master" PIC which in turn communicates with a number of "slave" PICs to initiate motor control. To demonstrate this, the Robot Drummer was created.
 ==Mechanical Design==

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 *The slave PICs implement feedback PD control.
 *Upon request, data can be sent from the slave PICs back to MATLAB.
-'''Objectives Not Met'''<br>
-We were unable to implement data logging to flash memory for high resolution tracking of the motor position.
 ==Reflections==

@@ Line 251: / Line 251: @@
 '''Objectives Not Met'''<br>
-*We were unable to implement data logging to flash memory.
+We were unable to implement data logging to flash memory for high resolution tracking of the motor position.
 ==Reflections==

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 [http://www.youtube.com/watch?v=wh8u9EHXdRs Video of the Robot Drummer]
-'''Objectives Met'''
+'''Objectives Met'''<br>
 Despite the problems we encountered early on in the project, overall we are pleased with the progress we've made in a relatively short amount of time.  We believe this project will be of great use to others.  We were able to meet the following objectives:

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 #byte QEICON= 0xFB6  // Quadrature Encoder Interface control register
 int16 POSCNT;        // Position Count register (16 bit)
-#byte  POSCNT  = 0xF66
+#byte POSCNT  = 0xF66
-#byte  POSCNTH = 0xF67
+#byte POSCNTH = 0xF67
-#byte  POSCNTL = 0xF66
+#byte POSCNTL = 0xF66
 int16 MAXCNT;        // Can set POSCNT to reset when POSCNT=MAXCNT
-#byte  MAXCNT  = 0xF64
+#byte MAXCNT  = 0xF64
-#byte  MAXCNTH = 0xF65
+#byte MAXCNTH = 0xF65
-#byte  MAXCNTL = 0xF64
+#byte MAXCNTL = 0xF64
 </pre>

@@ Line 148: / Line 148: @@
 </pre>
-This is required possibly due to the fact that the 4431 uses an SSP module instead of MSSP like the 4520, and has one SSP control register instead of two (refer to [http://www.picbasic.co.uk/forum/showthread.php?t=7920 this] PIC forum thread).
+This is required possibly due to the fact that the 4431 uses an SSP module instead of MSSP like the 4520 and most other 18F PICs, and has one SSP control register instead of two (refer to [http://www.picbasic.co.uk/forum/showthread.php?t=7920 this] PIC forum thread).
 ====Control====