Monday, December 2, 2013

Sidewalk Drawing Machine Goto Test

Motion test of my new draw bot. I have made my own DC servos by using a gear motor and a hall effect absolute angular position sensor. So now I can send a position over serial, and the robot will attempt to move there from wherever it is. I am using a PID loop to achieve this but still need to do some tweaking as you can see from the oscillations. Mostly this is due to the inertia of the arm being radically different depending on the extension.

1 comment:

Israel Miranda said...

Hey David,

where did you get you coding for the 9015 motor? I'll like to get them. This is my email:
I'll appreciate your response.