Automated foosball table

Various updates for the MCs were implemented. The rotation MC software lacked precision, because our regul algorithm didn’t work when the precision was set below 30 ticks-+ (1000 ticks = 2pi). The motor was oscillating around the wanted position if the precision was set lower. This has been fixed now, (with a nasty hack), simply shifting the regul results 3 bits down, when wanted position is less than 30 ticks away.

Also another problem was fixed. We noticed that the motors heated even though they weren’t in use.

When they weren’t in use the MC software set the engine voltages at 128. But tests showed that the zero voltage wasn’t 128 for the motors, in fact, they were all different, but within 128 +- 5. As a result a fix was implemented that turns the power off completely (PWM_OFF) if the motor voltage is within 128+- 15 because the rods won’t move for voltages closer to 128 value anyway.

Now the motors are nice & cool (when they aren’t in use).

The test results are attached 

-,164: 129
-,111: 130
-,07: 131
-,039: 132
0,006:133
0,054:134

20 amps offense
10 apms (II) offense
0,04:134
-0,003:133
-0,041:132

CENTER
0,206:128
0.325:130
0.220:127
0,144:125
0,061:123
0,030:122<—-
0,060:121

DEFENSE
0,065:135
0,45:133
0,39:132
0,29:131
0,21:130
0,05:128
-0,03:127<—-
-0,11:126
-0,19:125

CENTER2
0,27:128
-0,07:123
-0,04:122
-0,05:121

OFFENSE2
0,04:134
-0,001:133<—-
-0,03:132
-0,08:131

GOALIE
0,19:128
0,12:127
0,036:126<—–
-0,06:125
-0,15:123

 

This entry was posted on Friday, December 1st, 2006 at 5:56 pm and is filed under Detailed log. You can follow any responses to this entry through the RSS 2.0 feed. Responses are currently closed, but you can trackback from your own site.