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Forum Newbie
Group: Forum Members
Last Login: Wednesday, April 16, 2008 10:08 AM
Posts: 3,
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I'm currently in the process of exploring an issue I'm having with the serializer, and I was curious if you had any suggestions that I might try. I still have a few troubleshooting options of my own.
Unfortunately, its hard to give you the exact details of the problem since I'm writing in high-level C# code. I will do my best, however to give you the full context of the problem.
I have a PID line following algorithm using the differential motor controller functionality of the serializer. I also have 4 servos, two of which are high torque and used to lift objects via a fork lift mechanism. My PID algorithm works correctly if one of the servos is in the position such that the lift mechanism is down. The robot behaves maniacally if the servo is in the position such that the fork lift is in the raised position. Essentially, I am using the PID to follow lines and maneuver to a can. I then pick up that can and use the PID to maneuver from there. If I comment out line of code that changes the servo's position, my code works fine. If I add that line, it goes crazy.
My hypothesis that I will test tomorrow is that perhaps its a current issue. I will provide the servos with their own power and see if this corrects the problem.
I had originally thought it was a garbage collection issue, but my thread delays do not seem to cause the problem, its the servo code.
I have not had a chance yet to see if the serializer is resetting or browning out when the servo is in the lifted position. I do not think that it is. It seems to respond immediately to my command to tell it to start the line following, but it behaves incredibly erratically from that moment on.
Do you have any other suggestions should it turn out to be a power issue? Could it possibly be a firmware issue such that the serializer is having trouble driving the PWM for the servos and promptly responding to motor control input changes?
Thanks,
Matt
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Forum Member
Group: Moderators
Last Login: Wednesday, November 05, 2008 10:13 AM
Posts: 38,
Visits: 54
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| It sounds like a current issue. THe easiset way around this is to give them their own source like you are thinking. If you look at the jumper on J5, this supplys the voltage to Pins 6 and 7. If you remove the jumper you can connect your own source to the middle pin. Just make sure to connect your grounds. So if you have a 6V'ish battery then give that a try. Ringo
Ringo Davis
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