https://hades.mech.northwestern.edu//index.php?action=history&feed=atom&title=Vision-based_Cannon 2026-04-08T05:59:17Z Revision history for this page on the wiki MediaWiki 1.35.9 https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12973&oldid=prev 2009-03-20T10:05:08Z

<p><span dir="auto"><span class="autocomment">Slave PIC</span></span></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 10:05, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 155:</td> <td colspan="2" class="diff-lineno">Line 155:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>&lt;br clear=all&gt;</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>&lt;br clear=all&gt;</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>===Fire Control PIC===</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>*[[Media:SM_Fire.c|Fire Control PIC Code]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>The fire control PIC allows for firing the missile launcher from Matlab. A USB-FTDI cable is used to provide connectivity. The PIC will fire on any serial input.</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>==Mechanics==</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>==Mechanics==</div></td> </tr> </table>

Scott Mueller https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12868&oldid=prev 2009-03-20T06:32:51Z

<p><span dir="auto"><span class="autocomment">Electronics</span></span></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 06:32, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 128:</td> <td colspan="2" class="diff-lineno">Line 128:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>===Master PIC===</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>===Master PIC===</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker" data-marker="−"></td> <td class="diff-deletedline diff-side-deleted"><div>[[<del class="diffchange diffchange-inline">Media</del>:Master<del class="diffchange diffchange-inline"> Servo</del> PWM Generator.<del class="diffchange diffchange-inline">c</del>|<del class="diffchange diffchange-inline">Code for Master servo </del>PWM <del class="diffchange diffchange-inline">generator and interfacing with Matlab</del>]]</div></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>[[<ins class="diffchange diffchange-inline">Image</ins>:Master PWM Generator.<ins class="diffchange diffchange-inline">png</ins>|PWM <ins class="diffchange diffchange-inline">Generator|thumb|400px|right</ins>]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>*[[Media:Master Servo PWM Generator.c|Code for Master servo PWM generator and interfacing with Matlab]]</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>The Master PIC is in charge of getting the servo positions via RS-232 communication with Matlab and converting them into PWM signals suitable for driving off the shelf servo motors. In the case of this project the servo pulse widths are fed into our custom PIC servo driver or "Slave" PIC's.</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>The Master PIC is in charge of getting the servo positions via RS-232 communication with Matlab and converting them into PWM signals suitable for driving off the shelf servo motors. In the case of this project the servo pulse widths are fed into our custom PIC servo driver or "Slave" PIC's.</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>&lt;br clear=all&gt;</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>===Slave PIC===</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>===Slave PIC===</div></td> </tr> <tr> <td colspan="2" class="diff-lineno">Line 146:</td> <td colspan="2" class="diff-lineno">Line 152:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>The Slave PIC is meant to interpret servo PWM signals and implement a Proportional-Integral-Derivative (PID) algorithm to drive a servo motor to its intended position. The incoming PWM signal comes in on CCP1, and the outgoing PWM signal goes out on CCP2 and C0 to an L298 H-Bridge chip which gives full bidirectional motor control. Because there are only two CCP pins available on the PIC18F4520, each servo motor must have its own dedicated slave PIC for driving.</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>The Slave PIC is meant to interpret servo PWM signals and implement a Proportional-Integral-Derivative (PID) algorithm to drive a servo motor to its intended position. The incoming PWM signal comes in on CCP1, and the outgoing PWM signal goes out on CCP2 and C0 to an L298 H-Bridge chip which gives full bidirectional motor control. Because there are only two CCP pins available on the PIC18F4520, each servo motor must have its own dedicated slave PIC for driving.</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>&lt;br clear=all&gt;</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>&lt;br clear=all&gt;</div></td> </tr> </table>

Anthony Franco https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12839&oldid=prev 2009-03-20T06:05:24Z

<p><span dir="auto"><span class="autocomment">Circuits</span></span></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 06:05, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 108:</td> <td colspan="2" class="diff-lineno">Line 108:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>The electrical system for this project consisted of a custom developed master/slave servo controller. Each actuator is controlled directly by a slave system that monitors a feedback potentiometer and implements PID control. Each slave in turn receives a position command from a master PIC, which itself is controlled by Matlab running on a PC. </div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>The electrical system for this project consisted of a custom developed master/slave servo controller. Each actuator is controlled directly by a slave system that monitors a feedback potentiometer and implements PID control. Each slave in turn receives a position command from a master PIC, which itself is controlled by Matlab running on a PC. </div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>===Circuits===</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>===Circuits===</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>[[Image:MasterSlave Motor Control.png|Servo Drive and Control Circuit|thumb|450px|right]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>[[Image:MasterSlave Motor Control.png|Servo Drive and Control Circuit|thumb|450px|right]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>*This is the main servo PWM generation and controller circuit with the Master and two Slaves</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>&lt;br clear=all&gt;</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>[[Image:Fire Control.png|Nerf Gun Firing Circuit|thumb|450px|right]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>[[Image:Fire Control.png|Nerf Gun Firing Circuit|thumb|450px|right]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>*This is the Nerf rocket Fire Control circuit</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>&lt;br clear=all&gt;</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>[[Image:SM_PIC_Boards.jpg|Master, 2 Slaves, Fire Control PICs|thumb|450px|right]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>[[Image:SM_PIC_Boards.jpg|Master, 2 Slaves, Fire Control PICs|thumb|450px|right]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>*These are all four PICs used for controlling the project. One Master, two Slaves, and the Fire Control</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> </table>

Anthony Franco https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12825&oldid=prev 2009-03-20T05:58:00Z

<p><span dir="auto"><span class="autocomment">Team Members</span></span></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 05:58, 20 March 2009</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"></td> <td class="diff-context diff-side-deleted"><div>==Team Members==</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>==Team Members==</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker" data-marker="−"></td> <td class="diff-deletedline diff-side-deleted"><div>[[Image:SM_UsAndProject.jpg|right|<del class="diffchange diffchange-inline">Raw</del> <del class="diffchange diffchange-inline">Image</del>|thumb|400px]]</div></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>[[Image:SM_UsAndProject.jpg|right|<ins class="diffchange diffchange-inline">Tony</ins> <ins class="diffchange diffchange-inline">Franco and Scott Mueller</ins>|thumb|400px]]</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>* Scott Mueller (Mechanical Engineering, Class of 2010)</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>* Scott Mueller (Mechanical Engineering, Class of 2010)</div></td> </tr> </table>

Anthony Franco https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12821&oldid=prev 2009-03-20T05:57:05Z

<p><span dir="auto"><span class="autocomment">Slave PIC</span></span></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 05:57, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 125:</td> <td colspan="2" class="diff-lineno">Line 125:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>===Slave PIC===</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>===Slave PIC===</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker" data-marker="−"></td> <td class="diff-deletedline diff-side-deleted"><div>[[Image:PIC Servo Controller.png|Servo<del class="diffchange diffchange-inline"> Drive and</del> Control Circuit|thumb|600px|right]]</div></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>[[Image:PIC Servo Controller.png|Servo Control Circuit|thumb|600px|right]]</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>*[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>*[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> </tr> </table>

Anthony Franco https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12818&oldid=prev 2009-03-20T05:56:11Z

<p><span dir="auto"><span class="autocomment">Slave PIC</span></span></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 05:56, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 127:</td> <td colspan="2" class="diff-lineno">Line 127:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>[[Image:PIC Servo Controller.png|Servo Drive and Control Circuit|thumb|600px|right]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>[[Image:PIC Servo Controller.png|Servo Drive and Control Circuit|thumb|600px|right]]</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker" data-marker="−"></td> <td class="diff-deletedline diff-side-deleted"><div>[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div><ins class="diffchange diffchange-inline">*</ins>[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker"><a class="mw-diff-movedpara-right" title="Paragraph was moved. Click to jump to old location." href="#movedpara_4_0_lhs">&#x26AB;</a></td> <td class="diff-addedline diff-side-added"><div><a name="movedpara_2_1_rhs"></a><ins class="diffchange diffchange-inline">*</ins>[[Media:Slave Servo PID Controller.c|Code for Slave servo PID controller]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>*[[RC Servo Theory]]</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"><a class="mw-diff-movedpara-left" title="Paragraph was moved. Click to jump to new location." href="#movedpara_2_1_rhs">&#x26AB;</a></td> <td class="diff-deletedline diff-side-deleted"><div><a name="movedpara_4_0_lhs"></a>[[Media:Slave Servo PID Controller.c|Code for Slave servo PID controller]]</div></td> <td colspan="2" class="diff-empty diff-side-added"></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> </table>

Anthony Franco https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12810&oldid=prev 2009-03-20T05:50:05Z

<p><span dir="auto"><span class="autocomment">Slave PIC</span></span></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 05:50, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 125:</td> <td colspan="2" class="diff-lineno">Line 125:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>===Slave PIC===</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>===Slave PIC===</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>[[Image:PIC Servo Controller.png|Servo Drive and Control Circuit|thumb|600px|right]]</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>[[Media:Slave Servo PID Controller.c|Code for Slave servo PID controller]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>[[Media:Slave Servo PID Controller.c|Code for Slave servo PID controller]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>The Slave PIC is meant to interpret servo PWM signals and implement a Proportional-Integral-Derivative (PID) algorithm to drive a servo motor to its intended position. The incoming PWM signal comes in on CCP1, and the outgoing PWM signal goes out on CCP2 and C0 to an L298 H-Bridge chip which gives full bidirectional motor control. Because there are only two CCP pins available on the PIC18F4520, each servo motor must have its own dedicated slave PIC for driving.</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>The Slave PIC is meant to interpret servo PWM signals and implement a Proportional-Integral-Derivative (PID) algorithm to drive a servo motor to its intended position. The incoming PWM signal comes in on CCP1, and the outgoing PWM signal goes out on CCP2 and C0 to an L298 H-Bridge chip which gives full bidirectional motor control. Because there are only two CCP pins available on the PIC18F4520, each servo motor must have its own dedicated slave PIC for driving.</div></td> </tr> </table>

Anthony Franco https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12772&oldid=prev 2009-03-20T05:25:50Z

<p><span dir="auto"><span class="autocomment">Master PIC</span></span></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 05:25, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 119:</td> <td colspan="2" class="diff-lineno">Line 119:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>===Master PIC===</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>===Master PIC===</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>[[Media:Master Servo PWM Generator.c|Code for Master servo PWM generator and interfacing with Matlab]]</div></td> </tr> <tr> <td class="diff-marker"><a class="mw-diff-movedpara-left" title="Paragraph was moved. Click to jump to new location." href="#movedpara_4_0_rhs">&#x26AB;</a></td> <td class="diff-deletedline diff-side-deleted"><div><a name="movedpara_2_0_lhs"></a>The Master PIC is in charge of getting the servo positions via RS-232 communication with Matlab and converting them into PWM signals suitable for driving off the shelf servo motors. In the case of this project the servo pulse widths are fed into our custom PIC servo driver or "Slave" PIC's.</div></td> <td colspan="2" class="diff-empty diff-side-added"></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker"><a class="mw-diff-movedpara-right" title="Paragraph was moved. Click to jump to old location." href="#movedpara_2_0_lhs">&#x26AB;</a></td> <td class="diff-addedline diff-side-added"><div><a name="movedpara_4_0_rhs"></a>The Master PIC is in charge of getting the servo positions via RS-232 communication with Matlab and converting them into PWM signals suitable for driving off the shelf servo motors. In the case of this project the servo pulse widths are fed into our custom PIC servo driver or "Slave" PIC's.</div></td> </tr> <tr> <td class="diff-marker" data-marker="−"></td> <td class="diff-deletedline diff-side-deleted"><div>[[SM_Matlab_Servo_Controller.c‎]]</div></td> <td colspan="2" class="diff-empty diff-side-added"></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>===Slave PIC===</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>===Slave PIC===</div></td> </tr> </table>

Anthony Franco https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12764&oldid=prev 2009-03-20T05:21:57Z

<p><span dir="auto"><span class="autocomment">Slave PIC</span></span></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 05:21, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 127:</td> <td colspan="2" class="diff-lineno">Line 127:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>[[Media:Slave Servo PID Controller.c|Code for Slave servo PID controller]]</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>The Slave PIC is meant to interpret servo PWM signals and implement a Proportional-Integral-Derivative (PID) algorithm to drive a servo motor to its intended position. The incoming PWM signal comes in on CCP1, and the outgoing PWM signal goes out on CCP2 and C0 to an L298 H-Bridge chip which gives full bidirectional motor control. Because there are only two CCP pins available on the PIC18F4520, each servo motor must have its own dedicated slave PIC for driving.</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>The Slave PIC is meant to interpret servo PWM signals and implement a Proportional-Integral-Derivative (PID) algorithm to drive a servo motor to its intended position. The incoming PWM signal comes in on CCP1, and the outgoing PWM signal goes out on CCP2 and C0 to an L298 H-Bridge chip which gives full bidirectional motor control. Because there are only two CCP pins available on the PIC18F4520, each servo motor must have its own dedicated slave PIC for driving.</div></td> </tr> </table>

Anthony Franco https://hades.mech.northwestern.edu//index.php?title=Vision-based_Cannon&diff=12744&oldid=prev 2009-03-20T05:02:32Z

<p><span dir="auto"><span class="autocomment">Slave PIC</span></span></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 05:02, 20 March 2009</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 125:</td> <td colspan="2" class="diff-lineno">Line 125:</td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>===Slave PIC===</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>===Slave PIC===</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"><a class="mw-diff-movedpara-left" title="Paragraph was moved. Click to jump to new location." href="#movedpara_3_1_rhs">&#x26AB;</a></td> <td class="diff-deletedline diff-side-deleted"><div><a name="movedpara_1_0_lhs"></a>The Slave PIC is meant to interpret servo PWM signals and implement a Proportional-Integral-Derivative (PID) algorithm to drive a servo motor to its intended position. The incoming PWM signal comes in on CCP1, and the outgoing PWM signal goes out on CCP2 and C0 to an L298 H-Bridge chip which gives full bidirectional motor control. Because there are only two CCP pins available on the PIC18F4520, each servo motor must have its own dedicated slave PIC for driving.</div></td> <td colspan="2" class="diff-empty diff-side-added"></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>[[PIC Servo Controller|Main page about the PIC Servo controller]]</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker"><a class="mw-diff-movedpara-right" title="Paragraph was moved. Click to jump to old location." href="#movedpara_1_0_lhs">&#x26AB;</a></td> <td class="diff-addedline diff-side-added"><div><a name="movedpara_3_1_rhs"></a>The Slave PIC is meant to interpret servo PWM signals and implement a Proportional-Integral-Derivative (PID) algorithm to drive a servo motor to its intended position. The incoming PWM signal comes in on CCP1, and the outgoing PWM signal goes out on CCP2 and C0 to an L298 H-Bridge chip which gives full bidirectional motor control. Because there are only two CCP pins available on the PIC18F4520, each servo motor must have its own dedicated slave PIC for driving.</div></td> </tr> <tr> <td colspan="2" class="diff-empty diff-side-deleted"></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><br /></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>&lt;br clear=all&gt;</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>&lt;br clear=all&gt;</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><br /></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><br /></td> </tr> </table>

Anthony Franco