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Download Embedded Robotics - Thomas Braunl
Transcript
Biped Robot Design Figure 10.5: Visualization of servo sensor data The main program comprises four steps: • • • • Initializing all servos. Setting all servos to the “up” position. Looping between “up” and “down” until keypress. Releasing all servos. Robot configurations like “up” and “down” are stored as arrays with one integer value per dof of the robot (nine in this example). They are passed as parameters to the subroutine “move”, which drives the robot servos to the desired positions by incrementally setting the servos to a number of intermediate positions. Subroutine “move” uses local arrays for the current position (now) and the individual servo increment (diff). These values are calculated once. Then for a pre-determined constant number of steps, all servos are set to their next incremental position. An OSWait statement between loop iterations gives the servos some time to actually drive to their new positions. 137
