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eX-Robot. New Ideas and Solutions for Self Balancing Robot
10-14-2015, 08:14 PM
Post: #10
RE: eX-Robot. New Ideas and Solutions for Self Balancing Robot
(10-14-2015 07:19 PM)vlelectronic Wrote:  Hello KomX,
The "dir" link them together?
How does a wheel to move forward and backward?
Thank you
greetings VL

If you look at the documentation on the drivers of stepper motors, you will see that the signals "DIR" and "STEP" comes into the input register. And the logic of the scheme is run signal "STEP" and requires a steady level on the line "DIR" (0 or 1). After removal of the signal "STEP", you can arbitrarily change the signal "DIR" and this will not affect the driver of the motor. It is this behavior and was included in the program. Since the motor control signals generated in the interrupt routine, and by default Arduino nested interrupts are disabled, the interrupt routine for the left and right motors are processed sequentially, without affecting each other. Thus, if we require that the motors rotate in opposite directions, we expose one motor one signal "DIR" (the same signal is supplied and a second motor) and confirm its signal "STEP" for the engine (since the second motor signal "STEP" does not arrive, the driver of the motor does not "see" signal value "DIR" which it is not intended.
Something like that Smile
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RE: eX-Robot. New Ideas and Solutions for Self Balancing Robot - KomX - 10-14-2015 08:14 PM

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