Comment

Admin Comment by Thomas J Coyle III on July 9, 2012 at 10:18am

@Alan,

The Arduino Uno PWM conversion code is in the Minds-i Library file that can be found here:

http://www.mymindsi.com/code

 

Regards,

TCIII

Comment by KM6VV on July 9, 2012 at 9:38am

@Thomas,

That's probably fine, after all, it's not a position we're seeking, it's just an error to be used to control a servo's rate.  I think the SSC-32 resolves down to 1uS, but that accuracy may not be important here. 

Is this code available somewhere? 

Regards,

Alan

x-SSBN622

Admin Comment by Thomas J Coyle III on July 9, 2012 at 4:03am

@Alan,

The Arduino Uno obstacle advoidance program uses a subroutine to decode the PWM inputs. The subroutine scales the 1.0ms to 2.0ms PWM to a range of 0 to 180 with 90 being the center at 1.5ms. Repeatability of the measurement when I moved the steering and throttle controls was very consistent. If you divide 2ms by 180 you will get the resolution of the conversion which should be around 11us.

Regards,

TCIII

Comment by KM6VV on July 8, 2012 at 7:32pm

@Thomas,

That sounds great!  So it's not that hard to read two PWM channels from the APM1 (or 2?), and then further meld obstacle avoidance and blob tracking. 

I'm looking forward to trying out the APM2 on my 'bot. I'm waiting for the 2nd order to SDP (I somehow forgot to order some belts and pulleys), so I can't run the drive train yet.  I also still have to mill the motor mount bulkheads, and the axles.

Do you notice any loss of resolution in the steering and throttle PWMs?  I suppose there is sufficient for an error word.

Regards,

Alan

3D Robotics Comment by Chris Anderson on July 8, 2012 at 7:11pm

Here's a video of ArduRover doing autonomous patterns at the DIY Drones Multicopter Rodeo in Boulder, CO last month:

https://plus.google.com/u/0/photos/116239412494285292158/albums/576...

Admin Comment by Thomas J Coyle III on July 8, 2012 at 3:58pm

@Alan,

Yes, that is what I have been doing with the minimal hardware and tools that I do have in my possession. I have verified that the Arduino Uno can decode my Traxxas 5 channel receiver output so I know that I can use the APM1 steering and throttle output as inputs to the Arduino Uno obstacle avoidance processor. The obstacle avoidance processor will use the APM1 input to steer to the next waypoint instead of just trying to go straight ahead while avoiding obstacles as in the original code.

I am also working on building one of these( http://www.ianjohnston.com/content/index.php?option=com_content&... ) so I can use a joystick to steer my 6 wheel skid steering rover that is in FL with my Traxxas E-Maxx. I already have an Arduino Nano that plugs into a socket that has screw terminals for all of the Nano pins. This will make it very easy to build the joystick transmitter. I also have one of the Lynxmotion Spektrum transmitter modules to use in place of a standard R/C transmitter.

Regards,

TCIII

Comment by KM6VV on July 8, 2012 at 3:14pm

Well,  If you don't have the hardware yet, learn the software!

I'm looking forward to understanding the software.

Alan

Admin Comment by Thomas J Coyle III on July 8, 2012 at 4:37am

Hi All,

Nice to see that our membership is beginning to take off and ramp up! Please do not be shy about adding comments and starting discussions. I am presently in TX waiting to retire to FL at the end of July and really do not have any of my tools and rovers with me here in TX. Very frustrating, but it gives me time to think about all of the rover projects I want to pursue when I get to FL!

Regards,

TCIII

Comment by KM6VV on July 6, 2012 at 8:11pm

@Thomas,

Yeah, I could've used the week off as well!

Still making little parts like idler wheels for the timing belt drive system.

Regards,

Alan

Admin Comment by Thomas J Coyle III on July 6, 2012 at 7:27pm

@Alan,

Basic Micro finally admitted that they took the 4th of July week off and that my order would ship on this coming Monday. Wish that I could have had the 4th of July week off! Oh well, I really can't use it until I get to FL.

Regards,

TCIII

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