#robotics Logs

May 28 2021

01:53 AM rue_bed2: I should just sit down and turn all my dc motors into sevos
02:00 AM rue_bed2: see if I can keep them from oscillating
02:00 AM rue_bed2: phase margins
02:00 AM rue_bed2: I need to pay attention to phase margins
02:00 AM rue_bed2: all pass filters :)
02:01 AM rue_bed2: I wonder then if it could be all passive
02:02 AM rue_bed2: have a digital front end, and an analog to pwm system, let all the filtering be done in analog
02:02 AM rue_bed2: passive analog pid?
02:06 AM rue_bed2: it does imply a dac or two being involved
02:07 AM rue_bed2: maybe if the error is done in digital
02:07 AM rue_bed2: follow the saturable signals back and make that all analog
02:10 AM rue_bed2: I suppose for integral you have to be active
02:11 AM rue_bed2: so the digital end take the command position, maybe takes encoders in, calculates the error, outputs to a DAC, takes the ADC result, converts to pwm and outputs to driver
02:11 AM rue_bed2: I wonder how it compares
02:12 AM rue_bed2: I suppose the digital challange is to mind your saturation
02:12 AM rue_bed2: it would be nice to have a saturable math library
02:13 AM rue_bed2: JNC foo;
02:13 AM rue_bed2: LDA 0xFF
02:13 AM rue_bed2: foo:
02:14 AM rue_bed2: so, digital motor driver
02:15 AM rue_bed2: encoder feedback
02:15 AM rue_bed2: why is tiny26 the perfect size for everything
02:17 AM rue_bed2: is there a way I can use a tiny13
02:17 AM rue_bed2: serial dac?
02:17 AM rue_bed2: bit of delay
02:17 AM rue_bed2: yea, about loop time
02:17 AM rue_bed2: what matters
02:18 AM rue_bed2: dont recall how many ms it took for the shaft of a stepper to start moving after the coils are energized
02:18 AM rue_bed2: should I be sad I'm the only person left in the world
02:19 AM rue_bed2: and if I'm the only person left, why dont I have more time to myself?
02:19 AM rue_bed2: you could try it, the wonder of analog is the lack of delay
02:20 AM rue_bed2: how does phase delay change things
02:20 AM rue_bed2: well, it would change phase
02:20 AM rue_bed2: but it offsets it
02:20 AM rue_bed2: yea, you have a variable phase delay from the filter
02:20 AM rue_bed2: then a static from the digital
02:21 AM rue_bed2: means your closer to 360
02:22 AM rue_bed2: only by a few us
02:23 AM rue_bed2: if your that close on phase to 360 your probably doomed anyhow
02:23 AM rue_bed2: we need to finish the filter profiler
02:23 AM rue_bed2: or re-start it
02:23 AM rue_bed2: hmm
08:18 AM sord937 is now known as asdfqwe
08:17 PM flav0r: HEY HEY HEY !
08:18 PM rue_mohr: 🐎
08:18 PM * rue_mohr squints
08:18 PM rue_mohr: did that work?
08:19 PM flav0r: did what work ?
08:19 PM flav0r: the horse ?
08:23 PM rue_mohr: :)
08:32 PM rue_shop1: it didn't work here
08:32 PM Tom_L: did so
08:34 PM rue_shop1: I get a code box 01F 40E
08:34 PM Tom_L: what generated it?
08:34 PM rue_shop1: the character rendering system
08:35 PM rue_shop1: I wonder if it'll rain rommrowo
08:35 PM Tom_L: not here
08:35 PM rue_shop1: our weather is almost dead-on with seattle