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My implementations
05-24-2016, 10:54 AM
Post: #61
RE: My implementations
(05-08-2016 12:50 PM)sasa999 Wrote:  
(05-07-2016 11:57 PM)elgar328 Wrote:  how did you glue the two motors?

Wooden wedge, glue and screws, but better will be metal mounts, fasteners without glue.

(05-07-2016 11:57 PM)elgar328 Wrote:  how did you glue the two motors?

In this, first robot, there is wooden wedge, glue and screws, but better will be steel mounts without glue.

How to configure timer to tick less than 1ms ?
Standart ticker library have only 1ms resolution.

Also i tryed to change os_timer_arm to ets_timer_arm_new(&some_timer, 100, 1, 1); in code http://pastie.org/10850273 but still have no results.
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05-25-2016, 05:23 AM (This post was last modified: 05-25-2016 06:17 AM by sasa999.)
Post: #62
RE: My implementations
(05-24-2016 10:54 AM)michael_s Wrote:  How to configure timer to tick less than 1ms ?
Standart ticker library have only 1ms resolution.

Also i tryed to change os_timer_arm to ets_timer_arm_new(&some_timer, 100, 1, 1); in code http://pastie.org/10850273 but still have no results.
Look at this
https://github.com/esp8266/Arduino/pull/643/files
But you can also use simple getCycleCount() function and compare returned values.

(05-22-2016 12:38 PM)emtenteo Wrote:  Hi sasa

I have follow your tutorial at http://forumsjjrobots.com/thread-738-pos...ml#pid1006 but my robot still not do like this video https://www.youtube.com/watch?v=kqN_VWaPJrU

Can i have your code about this feature.

Thanks.
I haven't this code right now because it is in another computer, but I can explain how it works. You need to change angle_adjusted by some value. To calculate value I added stepCounter, which count motor steps from vertical position to balance point with weight added. Another added variable is stepCounterSaved. This is previous saved stepCounter value. This value must be saved when robot stay in balance with added weight.
angle_adjusted=dmpGetPhi() - stepCounter*0.01 - stepCounterSaved*0.01;
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10-08-2016, 09:53 PM
Post: #63
RE: My implementations
[Image: esp32.jpg]
Wink
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