I am building a 6 degree of freedom robot arm. The axes are driven by dc gear motors. I have 6x 6-transistor h-bridges one for each axis motor, these are 2 input devices
00=coast
01=fwd
10=rev
11=brake
I have 100k linear variable resistors on each axis and physical limit switches.
I would like to use pic(s) for the rest of my logic. Each motor needs to have its own profile in the controller due to different rpm ranges. The 6th motor could be a R/C servo for the gripper.
The list of functions would include:
acceleration/decceleration
station keeping (the elbow lowers when the shoulder is rising and needs to be compensated for)
home/park (find home safely on power up / alternate safe position)
hi speed / low speed
I have a variety of pics and the easy pic 4 with basic and c.
So, you see I have many questions.
The obvious ones are:
Which language? I prefer basic my c is rusty
Which pics? so many choices.
how many pics? I have 5x olimex 40 pin boards with serial ports.
should I be using encoders instead ? The on pic adc would be nice
I would like the axes to have a position register that could be altered from a PC or pendant.
The arm controller would connect to a PC serial/printer/ethernet port doesnt matter really.
The controlling software will be vbasic.
00=coast
01=fwd
10=rev
11=brake
I have 100k linear variable resistors on each axis and physical limit switches.
I would like to use pic(s) for the rest of my logic. Each motor needs to have its own profile in the controller due to different rpm ranges. The 6th motor could be a R/C servo for the gripper.
The list of functions would include:
acceleration/decceleration
station keeping (the elbow lowers when the shoulder is rising and needs to be compensated for)
home/park (find home safely on power up / alternate safe position)
hi speed / low speed
I have a variety of pics and the easy pic 4 with basic and c.
So, you see I have many questions.
The obvious ones are:
Which language? I prefer basic my c is rusty
Which pics? so many choices.
how many pics? I have 5x olimex 40 pin boards with serial ports.
should I be using encoders instead ? The on pic adc would be nice
I would like the axes to have a position register that could be altered from a PC or pendant.
The arm controller would connect to a PC serial/printer/ethernet port doesnt matter really.
The controlling software will be vbasic.