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PBASIC TYPO -- patch found here
Posted by Joe Johnson at 03/21/2001 3:52 PM EST
Engineer on team #47, Chief Delphi, from Pontiac Central High School and Delphi Automotive Systems.
In Reply to: you'll be sorry if you use bevel gears (imho) + free code
Posted by Joe Johnson on 03/21/2001 10:44 AM EST:
I had a typo in my code above -- fixed below.
Joe J.
PWMLeft is left wheel output
(assume fwd robot motion runs motor in reverse)
PWMRight is right wheel output
(assume fwd robot motion runs motor is forward)
BOOST_NUM CON 140
LOG2_BOOST_DEN CON 7
'Effective boost = BOOST_NUM / 2^LOG2_BOOST_DEN
'in the above case boost= 140 / 128 = 1.09
'use whatever means you normally use to generate the
'PWM outputs for the left and right wheels then use the
'following code to modify these values
if PWMLeft > LOG2_BOOST_DEN + $80 MAX $FE
NoBoostLeft:
if PWMRight > $80 then NoBoostRight
PWMRight = $8080 - ($80 - PWMRight * BOOST_NUM >> LOG2_BOOST_DEN) MIN $8000 - $8000
NoBoostRight:
The above code assumes 128 is "off" (128 = $80) for both wheels, this is the standard Victor calibration.
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