Parallax Boe-Bot Student Manual page 130

Page 116 · Robotics with the Boe-Bot
You can use Table 3-1 to record the data for your own transfer curve. Keep in mind that
the example program is controlling the right wheel with the values you enter. The left
wheel turns in the opposite direction.
Table 3-1:
Pulse Rotational
Width Velocity
(ms) (RPM)
1.300
1.310
1.320
1.330
1.340
1.350
1.360
1.370
1.380
1.390
Remember that the
PULSOUT
sends pulses that last 1.3 ms to P12.
12, 650
ms, sends pulses of 1.32 ms, and so on.
PULSOUT 12, 660
µ
= ×
Duration 650 2 s
= ×
650 . 0 000002
=
. 0 0013 s
=
1 3 . m s
√
Mark your right wheel so that you have a reference point to count the
revolutions.
√
Run TestServoSpeed.bs2.
√
Click the Debug Terminal's Transmit windowpane.
√
Enter the value 650.
√
Count how many turns the wheel made.
Pulse Width and RPM for Parallax Servo
Pulse Rotational Pulse
Width Velocity Width
(ms) (RPM) (ms)
1.400 1.500
1.410 1.510
1.420 1.520
1.430 1.530
1.440 1.540
1.450 1.550
1.460 1.560
1.470 1.570
1.480 1.580
1.490 1.590
command's
Duration
µ
= ×
Duration 655 2 s
= ×
s 655 . 0 000002
=
. 0 00131 s
=
. 1 31 m s
Rotational Pulse
Velocity Width
(RPM) (ms)
1.600
1.610
1.620
1.630
1.640
1.650
1.660
1.670
1.680
1.690
1.700
argument is in 2 µs units.
sends pulses of 1.31
PULSOUT 12, 655
=
Duration 660
=
s 660
=
. 0 00132
=
. 1 32
Rotational
Velocity
(RPM)
PULSOUT
µ
×
2 s
×
. 0 000002 s
s
m s