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6. Stepper Motors
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Robot Programming in ``C''
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5.2 Timer ISR
Contents
III
. Basic Open Loop Motor Control
Subsections
6
. Stepper Motors
6
.
1
Concepts
6
.
1
.
1
Full Stepping
6
.
1
.
2
Half Stepping
6
.
1
.
3
Software Control
6
.
2
Frequency Division
6
.
3
Displacement, Velocity and Acceleration
6
.
3
.
1
Displacement
6
.
3
.
2
Velocity
6
.
3
.
3
Acceleration
6
.
3
.
4
Getting back to Displacement
6
.
3
.
5
Physical Parameters
6
.
3
.
6
Velocity Profile
6
.
3
.
7
C code framework
6
.
3
.
8
What about differential steering?
6
.
3
.
9
Implementational Alternatives
6
.
4
Coding Tips
6
.
4
.
1
Efficiency issues
7
. Project 1
7
.
1
Final Objectives
7
.
2
Step by Step
7
.
2
.
1
Set up the Tools
7
.
2
.
2
Input/output
7
.
2
.
3
Frequency Division and Velocity
7
.
2
.
4
Acceleration and Deceleration
7
.
2
.
5
Displacement Control
7
.
2
.
6
Handle Negative Displacement and Velocity
7
.
2
.
7
Add Left and Right Motors
7
.
2
.
8
Add Angular Control
7
.
3
Due Date and Grading
7
.
4
How to Turn it In?
8
. R/C Servo Motors
8
.
1
Concepts and Rationale
8
.
1
.
1
Components of an R/C Servo
8
.
1
.
2
Control Mechanism
8
.
1
.
3
Why use R/C servos?
8
.
2
Modification for Full Rotation
8
.
3
PWM Control
8
.
4
Issues and Tips
8
.
4
.
1
Poor Speed Control
8
.
4
.
2
Uneven Full Rotation
8
.
4
.
3
Fragile Plastic Gears
8
.
4
.
4
Not Meant for Continuous Use
Copyright © 2006-02-15 by Tak Auyeung
