Joseph Bradshaw
Serial interface for controlling robotic arm.
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Program uses a LPC1768 processor for controlling a robotic arm. The basis for the program is the Axis () class which uses a PID controller to actuate a DC motor with quadrature encoder feedback. The LS7366 encoder interface IC off-loads the critical time and counting requirements from the processor using an SPI bus interface for the class. The Axis class then uses a state machine to perform trapezoidal movement profiles with a Ticker class. Parameters can be adjusted through the serial interface using a FT232RL or similar USB to serial interface IC for computer communication
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Above is the prototype for the controller. A PCF8574 I/O expander is used to read the limit switches by the I2C bus. Six motor driver breakout boards using the MC33926 motor driver chip were used to drive the motors.
/media/uploads/jebradshaw/100_2490.mp4 Short homing and calibration demo.
Joe B