ADEM

about Dynamixel se lektion 3

Ikke alle forelæsninger er her. Så der er også fejl 403

01 Intro and hello world in embedded System IO primer 9 sep Jens .
02 Realtime applied on direct IO (NTC) 16 sep Jens .
03 RS485 fieldbus, realtime 23 sep Jens .
04 XBEE EMB Unit 23 sep Jens .
05 C crash course 1 oct Jens .
06 Signals og Systems 7 oct Jan
07 Impulse response 14 oct Jan
08 Fourier series and bandwidth analysis 21. oct Jan
09 DC motors and hands on in lab 22.oct Karl
11 I2C fieldbus 28. oct Jens .
11 Fourier series and bandwidth analysis II 31. oct Jan
12 State Space and sensors 1. nov Jan
13 IMU and encoder incl I2C, digital representation of numbers(int and floats) xx.nov self study Jens/Jan
14 Sampling, Nyquist, quantification, and quant noise 8. nov Jan

EXAMINE

Individual assignment and examine

Mini project - chapter I

  • Dynamixel motor

    • protocol 2

    • arduino as master on rs485

    • you code shall be easy to change motor ID ( we will announce ID of our motor present at examine)

    • identify address for one of your motors

  • design, implement, test and explain

    • reset command (for all motors ?!?)

    • enable/disable torques on dyn motor (command addr 24)

    • set P-gain once (meaning not every time in your loop)

    • With a fixed samplingsfreq (10 Hz) you shall

      • get present temperature and reset or stop motor is temperature is to .high

Mini project - chapter II

Fourier et all

  • Lecture notes Chapter 5 exercise 7

Mini project - chapter III

The System Loop

  • Draw the system loop and explain how it relates to chapter I

    • hints: where is the System loop and how does it relate to your HW Setup

  • max 1 page

Deliverable

You must upload your assignment prior to examine int order to be allowed to attend examine