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  1. Motion control hardware

    In order to be able to move, the ASM robot have propeller systems along the 3 different axis. There is one propeller for each axis, so 3 of them. In addition to this, the robot have the ability to light up an internal light to "flash".
    In order to control the robot displacement, there is some feedback sensor fiving an information when the robot have effectively advanced of one cube.
    Activation of the propeller and information feedback is done by the means of a VPIA interface circuit located at the memory address 0x80000000.

    This is what are the functions of the communication lines and respective bit in the data register of the VPIA circuit :

    Bit in/out Name  Function
    0 out X_AXIS_SERVO_POWER Set to 0 to activate the X-axis servo propeller power.
    1 out X_AXIS_SERVO_DIRECTION Set the direction for displacement along the X-Axis.
    2 out Y_AXIS_SERVO_POWER Set to 0 to activate the Y-axis servo propeller power.
    3 out Y_AXIS_SERVO_DIRECTION Set the direction for displacement along the Y-Axis.
    4 out Z_AXIS_SERVO_POWER Set to 0 to activate the Z-axis servo propeller power.
    5 out Z_AXIS_SERVO_DIRECTION Set the direction for displacement along the Z-Axis.
    6 in X_SERVO_FEEDBACK Change state when robot has moved one cube along X-axis.
    7 in Y_SERVO_FEEDBACK Change state when robot has moved one cube along Y-axis
    8 in Z_SERVO_FEEDBACK Change state when robot has moved one cube along Z-axis
    9
    out ROBOT_LIGHT_FLASH Set to 0 to turn the robot light on.
    10 in FRAME_CYCLE Changed when virtual machine run a new time quantum.
    11-31 --
     reserved
    Reserved for futur use, these bit should be left to input mode.

     

     

     
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