83 Other Robot Controllers
Description
This article is from the Robotics FAQ, by Kevin Dowling nivek@cs.cmu.edu with numerous contributions by others.
83 Other Robot Controllers
Jerry Burton
Jerry Burton offers a number of boards including controller boards,
controllers boards, and I/O boards:
* The main board is based on a 68hc11 running in external mode with
32K ram and 32K ROM. The ROM contains the Buffalo monitor (with a
assembler/dissasembler added), plus a module called ROBOTMON which
is a menu driven exerciser for all functions (including motors,
sonars, steppers, servos), a ROBOT.UTL module which contains a
number of routines for converting input data from dec/hex and
output routines for displaying data in various formats (e.g
decimal, hex, binary, etc.), and ROBOT.INT provides all of the
interrupt routines for 2 channels of PWM. a 10 msec TOK_COUNT, IC
routines to measure wheel encoder speed and sonar elapsed time.
The unique feature of this system is the addition of an 8 bit
memory mapped bi-directional port This allows you to talk directly
to any one of 16 slaves and send/receive data from them. The data
is latched into the slaves which allows the slaves to operate
autonomously without further main board intervention. Each slave
has jumpers to set the board type to 0-15 and the slave channel
address 0-15.
* A motor control slave that uses a LM298 (2 amps continuous, 5 amps
max with thermal shut-down) H-bridge for driving 2 motors with PWM
from OC2,3. provision for bi-phase encoder input via IC1,2
* A sonar slave using the Polaroid 6500 module multiplexed to up to
8 transducers. The amplitude of the returned energy is also
available through AD0 (this from a capture and hold circuit which
can be read to determine the energy vector). Range is reported in
0.01 ft. units from 0.5 to 32.00 ft.
* A stepper control slave that allows simultaneous stepper of up to
4 stepper motors. Either uni-pole or bi-polar (i.e. 4 or 6 wire
stepper). Uses SAA1042 (500 milli-amp max) drivers with Full/Half
step and direction independent for each stepper.
* A prototype slave that provides the interface logic to the 34 pin
bus and a 4x4" prototyping area. New designs can be easily
protyped. Jumper settable board address as well as slave channel
0-15 allow multiple prototype boards to be used to implement
whatever devices you wish.
* A super prototype slave that has its own 68HC11 running in
internal mode. This allows commands to be sent to the slave MCU
and control to proceed totally in parallel with anything the other
slaves/main board are doing. Slave has races for implementing an 8
servo control logic. The main board merely selects servo 0-7 and
then sends 0-255 value (represents 4 micro-second resolution) to
control the servo with pulses from 1-2 msec.
Detailed information and price lists may be obtained from :
"Jerry Burton"
net: jbpir2@aol.com or rssc@netcom.com
10471 S. Brookhurst St.
Anaheim, CA 92804
tel: 714.535.8161
fax: 714.535.6629
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