https://hades.mech.northwestern.edu//index.php?action=history&feed=atom&title=Servo_skeleton_with_fast_%26_slow_interrupts 2026-04-12T04:37:03Z Revision history for this page on the wiki MediaWiki 1.35.9 https://hades.mech.northwestern.edu//index.php?title=Servo_skeleton_with_fast_%26_slow_interrupts&diff=7153&oldid=prev 2008-02-21T17:49:00Z

<p></p> <table class="diff diff-contentalign-left diff-editfont-monospace" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:49, 21 February 2008</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 1:</td> <td colspan="2" class="diff-lineno">Line 1:</td> </tr> <tr> <td class="diff-marker" data-marker="−"></td> <td class="diff-deletedline diff-side-deleted"><div>Check out the Pololu.c code [http://peshkin.mech.northwestern.edu/pic/code/ServoSkeleton/<del class="diffchange diffchange-inline">|</del>here]. This is very simple code to control two motors to run at the same speed. A 1 ms interrupt service routine (ISR) is used to check the encoders of two motors to see if the motors have moved. Note that if your encoder pulses come too quickly, you will miss counts by this simple polling, so this code is only appropriate for low encoder pulse rates. A 13.1 ms ISR calculates a control law: if encoder 1 is ahead of encoder 2, slow motor 1 and speed motor 2, and vice-versa.</div></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>Check out the Pololu.c code [http://peshkin.mech.northwestern.edu/pic/code/ServoSkeleton/<ins class="diffchange diffchange-inline"> </ins>here]. This is very simple code to control two motors to run at the same speed. A 1 ms interrupt service routine (ISR) is used to check the encoders of two motors to see if the motors have moved. Note that if your encoder pulses come too quickly, you will miss counts by this simple polling, so this code is only appropriate for low encoder pulse rates. A 13.1 ms ISR calculates a control law: if encoder 1 is ahead of encoder 2, slow motor 1 and speed motor 2, and vice-versa.</div></td> </tr> </table>

Lynch https://hades.mech.northwestern.edu//index.php?title=Servo_skeleton_with_fast_%26_slow_interrupts&diff=7152&oldid=prev 2008-02-21T17:48:12Z

<p></p> <p><b>New page</b></p><div>Check out the Pololu.c code [http://peshkin.mech.northwestern.edu/pic/code/ServoSkeleton/|here]. This is very simple code to control two motors to run at the same speed. A 1 ms interrupt service routine (ISR) is used to check the encoders of two motors to see if the motors have moved. Note that if your encoder pulses come too quickly, you will miss counts by this simple polling, so this code is only appropriate for low encoder pulse rates. A 13.1 ms ISR calculates a control law: if encoder 1 is ahead of encoder 2, slow motor 1 and speed motor 2, and vice-versa.</div>

Lynch