Let's Make Robots!

quadrature encoder

I started an new robot project which will be a long time project. The base is the 4WD chassies with 4 gear motors. The first stage is to attach the Dagu IR compound … Read more

cr4cX Motor Controller

This blog is about the cr4's motor controller - updated 2012.03.22

Controller features:

  • controls two H bridges;
  • reads, interrupt based, two quadrature encoders;
  • implements PID algorithm for controlling the speed of the motors;
  • synchronize the motors;
  • communicates through Serial and I2C/TWI;
  • monitors the supply voltage;
  • monitors the current through the motors.

Hacked some servos for fun

 

I had a GWS S03TXF 2BB servo that I had previously released the magic smoke from. It's been sitting on my desk, labeled "bad" for some time. I took it apart and could see that the board shows visible signs of frying.

I also had a GWS S03N STD servo that I had butched for the brains, in order to try to create a mongo-sized servo for steering YardGnome (a work in progress).