1. Trammell Hudson
  2. puma

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Trammell Hudson  committed af5f226

Adjust update rates and slow down reconfig strings

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  • Parent commits b37863b
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Files changed (2)

File NOTES

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+Mounting box:
+155x145 base
+35mm separation for the controllers (30mm + 3mm)
+60mm for the power supply (50mm + 3mm)
+130mm total height
+
+
 Axis 1:
 -11200 == -90 deg
 +12000 == 90  deg
 -11200 == -90
 = 120.5 ticks/deg
 26 cm
+
+--------
+
+1 2 3 4 5
+ 6 7 8 9
+
+wire color/stripe color
+
+axis 1:
+1 blue/brown (1a)
+4 red/blue (1b)
+6 orange/red (index?)
+8 grey (+5v)
+9 red/orange (gnd)
+
+axis 2:
+1 white/blue
+4 blue/white
+6 white/red
+nc orange/white
+
+axis 3:
+1 red/green
+4 green/brown
+6 red/blue
+nc brown/red
+
+axis 4:
+1 white/brown (4a)
+4 brown/white (4b)
+6 white/gray
+nc gray/white
+
+axis 5:
+1 red/gray (5a)
+4 gray/brown (5b)
+6 blue/black
+nc black/blue
+
+axis 6:
+1 orange/black
+4 black/brown
+6 green/white
+nc white/green
+

File servo.c

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 )
 {
 	controller_send(controller, "~ACTR\r\n");
+	usleep(100000);
 	controller_send(controller, "^CLERD 1 0\r\n");
+	usleep(100000);
 	controller_send(controller, "^CLERD 2 0\r\n");
+	usleep(100000);
 	controller_send(controller, "# C\r\n");
+	usleep(100000);
 	controller_send(controller, "?C\r\n");
+	usleep(100000);
 	controller_send(controller, "?M\r\n");
+	usleep(100000);
 	controller_send(controller, "?A\r\n");
+	usleep(100000);
 	controller_send(controller, "?S\r\n");
+	usleep(100000);
 	//controller_send(controller, "?DR\r\n");
+	usleep(100000);
 	controller_send(controller, "# 50\r\n");
+	usleep(100000);
 
 	return 0;
 }
 			new_axis = axis + 1;
 	}
 
+	if ((bitmask & 0x100) && (bitmask & 0x080))
+	{
+		robot_move(hh->robot, 1, 0, 1);
+		robot_move(hh->robot, 2, 0, 1);
+		robot_move(hh->robot, 3, 0, 1);
+		robot_move(hh->robot, 4, 0, 1);
+		robot_move(hh->robot, 5, 0, 1);
+		robot_move(hh->robot, 6, 0, 1);
+	}
+
 	if (new_axis)
 		handheld_axis(hh, new_axis);
 
 	{
 		// limit to 20 updates per second
 		unsigned long now = now_usec();
-		if (now - hh->last_send > 50000)
+		if (now - hh->last_send > 75000)
 		{
 			int delta = (jog * rate)/32;
 			printf("%d: %d * %+d = %d\n",