Embedded Files
A 2-axis styrofoam cutter made of Lego. It works quite nice except the control software is not yet complete. Unfortunately using the default control resulted in some not-so-nice oscillation and synchronizing the motion on 2 axes is problematic.
(this is my first attempt at controlling the motor)
Digging deeper into the problem I found out that I can also disable the provided control loop and control the input to the motor myself. I can also read back the values from the tachometer and implement my own control loop. (well, at least I know I can, I didn't actually do it). I made a couple of graphs showing the motor input and response:
In the mean time what is trivial to do is perform motion on the 2 axes separately.
You can see how that works here:
I don't know how soon I will have some more time to spend on this, but if you'd like to try it on your own here are the design files:
(LDD design and python command scripts for nxt-python http://code.google.com/p/nxt-python/).
Page updated
Google Sites
Report abuse