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Additional info for Circuit Cellar (August 2004)
The horizontal position remains compatible with any cursor offset set by the user. The BS character steps the cursor backwards but does not delete the existing character. This will be overwritten by any new input. HARDWARE INTERFACE Because I anticipated making a direct connection between this display driver and the device performing the actual work, the serial interface is a PIC input pin. , TTL-high represents stop and data high; low is start and data low). My prototype has a MAX233 RS-232 driver chip on it to suit the input device.
Call the Move() function when you want your motor to move. It takes the desired trajectory parameters as inputs and initiates a trajectory, which will hopefully result in the desired motion. But, before you can move any motors, you need to tune the PID control loop. TUNING You can use CAxesClosed to help tune the PID control loop. Listing 3 provides a simple program that you can use for tuning purposes. You instantiate CAxesClosed with one axis for tuning. The actual control loop is the while loop that calls Periodic().
It’s usually more intuitive to specify motion in terms of translation and rotation instead of left and right wheel motion. error causes the integral term to grow gradually over time. , friction or an incline). The larger the integral gain, the faster it overcomes the external force. But bear in mind that a sufficiently large integral gain can introduce oscillations to your system. Because the Lego motors have little static friction, I choose to set the 42 Issue 169 August 2004 integral gain to zero.