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From your description, it sounds like you don't use the information on board the robot to actively limit the current consumption. Is this correct? And once the data is displayed on the Palm, I take it it is left up to the driver what to do with the information. How does that work? Are they able to respond and keep from tripping circuit breakers?
It looks like you must only sample a single motor on each 40Hz program loop. Is this correct? (There are only 16 digital inputs in total, and 4 inputs for the motor number plus 7 more for the data doesn't leave very many for switches, etc. -- let alone for another motor sensor. ) Do you then sample all your motors in a round robin manner?
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