Alt-BEAM Archive
Message #02368
To: beam beam@corp.sgi.com
From: Dennison dennlill@buffnet.net
Date: Thu, 15 Apr 1999 17:13:23 -0400
Subject: [alt-beam] Two motor walker turning, linked to 4066 reverse
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Today I finished my first walker in a new seris of robots I'm putting toge=
ther to take with me to college. Anyway, I'm using a 4066 reverse circuit, =
and something I noticed was that the threshold levels of a hc14 inverter an=
d the switch thresholds of the 4066 seem to be different. This is because i=
n the 'rechage' state for the reverse timer, there is a slight pause, betwe=
en forward and reverse in which the multiplexed motor is inactive. because =
it's inactive, the front legs continue to move, which shifts the balance of=
the robot. Then the rear legs kick back in, and the walker starts walking =
again, yet because it's ballance have been shifted, the walker procceds to =
turn somewhat (signifigantly) amount, _away_ from the obstacle, and start w=
alking again. This give the robot a 'back up and turn' behavior. Very inter=
esting. Just thought I would share that. Also, if you can balance the robot=
nicely you can get some tight turning out of your two motor walker. So don=
't knock it.
Dennison
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would share that. Also, if you can balance the robot nicely you can get som=
e =
tight turning out of your two motor walker. So don't knock it.
Dennison
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