Alt-BEAM Archive
Message #02707
To: beam beam@corp.sgi.com
From: Richard Piotter richfile@rconnect.com
Date: Tue, 27 Apr 1999 21:57:42 -0500
Subject: [alt-beam] Re: Bicore head targeting?
Do you have a circuit with a STEADY output when it's centered on an object.
Wilf Rigter wrote:
>
> Hi Richard,
>
> The solution you are proposing is a solid traditional engineering approach
> which will work just fine and my only suggestion for that design is forget
> about the series diode, just integrate the two bicore outputs and compare
> their average DC value which is 2.5V for 50% duty cycle with a window
> comparator.
>
> But your design is NOT BEAM (grin).
>
> Here is a BEAM solution which was derived from my PD comparator in the
> photovore circuit posted some weeks ago. It provides two LEDs to indicate
> turning in the LEFT or RIGHT direction (seeking mode) and blinking LEDs when
> the target has been acquired (balanced mode). The potentiometer should be
> adjusted for mid position and when the target is acquired, adjusted until
> both leds blink at about 2Hz. This is the indication for lock. For small or
> slow changes in direction the lock indication continues since the error
> signal is small. For faster changes or "unlocked" continuous turning
> conditions (mind that you don't strangle you head), the left or right LED
> will light indicating the direction of turning. This is just a thought
> experiment, I have not build or tested this circuit but I'm sure it will
> work as described. So if anyone out there is "quick on the draw" and builds
> this circuit tonight, some feedback would be appreciated.
>
> Wilf Rigter mailto:wilf.rigter@powertech.bc.ca
> tel: (604)590-7493
> fax: (604)590-3411
>
> > -----Original Message-----
> > From: Richard Piotter [SMTP:richfile@rconnect.com]
> > Sent: Tuesday, April 27, 1999 2:41 PM
> > To: beam
> > Subject: Re: Bicore head targeting?
> >
> > PERRRRRRRRRFECT!!!
> >
> > This is EXACTLY what a switching power supply does. It creates a pulse
> > that can have a variable duty cycle. A filter (caps, inductors) filter
> > it into DC
--
Richard Piotter
richfile@rconnect.com
The Richfiles Robotics & TI web page:
http://richfiles.calc.org
For the BEAM Robotics list:
BEAM Robotics Tek FAQ
http://people.ne.mediaone.net/bushbo/beam/FAQ.html
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