Trouble with programming delta robot

Forum 2005-2010 (read only) Software Syntax & Programs
1

i have made a delta robot .
First i have to move the end effector (top triangle) by hand than note the 3 base angles and write them to delta bot !! this replicates the movement of the end effector which i have manually moved !!

My problem is that, i have to move a servo manually, record the values using a 10k potentiometer, for 1min. (1 reading for every 15 millisec) . Store them in a array ,than the values are write to the servo for another min.
when iam defining servo i cant able to move it manually !!
thanks a lot !!

2

Servos are not meant to be moved manually.

A servo is a motor with an encoder that tells the motor it is at such and such a position, by which it knows to shut off.

You will need to teach your robot the path to follow using separate encoders.

60 seconds worth of data every 15 milliseconds is 4000 values. Where are you going to store 4000 values? Not in the Arduino's memory.

3

1 reading for every 15 millisec

That's 4000 readings - where are you going to store them all?

4

You can calculate servo angles instead of storing them in a table. I made a controller for a 5DOF robotic arm recently out of Duemilanove using built-in trig functions with double precision. Apparently, 328p is quite a number cruncher - I don't see any delays between moves ( in fact, I need to insert delays to make it easier for servos ).

5

using built-in trig functions with double precision

Natively, the Arduino has only single precision floating point - did you write your own trig functions?

6

Trig functions are not Arduino-specific but linked from avr-libc. They take 'double' arguments and return 'double' results so I would assume they compute with double precision.

7

From:
http://arduino.cc/en/Reference/Double

"The double implementation on the Arduino is currently exactly the same as the float, with no gain in precision"

8

Then my code is single precision. Works fine though.