Alt-BEAM Archive
Message #03649
To: Chiu-Yuan Fang chiumanfu@home.com
From: Sean Rigter rigter@cafe.net
Date: Mon, 24 May 1999 17:38:20 -0700
Subject: [alt-beam] Re: Tricore info question
Hiya Chiu!
Those are just some first order examples. You make it sound like walkers
are not very adaptive, tuned for precisely one gait and stride. What
happens when the battery voltage drops, the motors slow down and the
stride shortens? Maybe use a regulator, eh? Anyway work with it since it
adds another dimension of adjustment, you may find some brand new
emergent behaviours like a kind of hopping gait with the weight
distribution optimized (converged) for single stepping cycle.
Chiu-Yuan Fang wrote:
>
> Depending on the mechanics, the pause at the end of every stepping cycle will
> probably ruin the convergence of the walkers motions. We'll have to try it and
> see.
>
> Chiu
>
> Wilf Rigter wrote:
> >
> > Hello Wouter and list
> >
> > Sorry for the delay, I've just been very busy. To my surprise, the tricore
> > has 3 modes. Zero and one process and 3 processes at very high frequency.
> > The PNC restores normal one process mode. Here's an example of another "odd"
> > core: a Pentacore that places the PNC inside the 4Nv loop. On power up, the
> > PNC Nv (not Nu =) resets the other Nvs. Since it's inside the loop, it
> > resets them one every stepping cycle, automatically reinitializing the core
> > in case of saturation. With the adjustable 1M pot you can vary the speed of
> > the walker from full speed to 10 seconds for one stepping cycle.When set for
> > full speed, the walker should start walking as soon as the power is applied.
> > I haven't time to build this at the moment but it should work as advertised.
> > One neat idea is to add a IR receiver that senses IR pulses and connect the
> > active low output of the IR receiver to the bias point (x) of the PNC. Now
> > when you have a Pentacore bot adjusted to slow speed, then you can control
> > it with a TV remote control when pressing any key generates an IR pulse that
> > causes it to take one step cycle at a time. That is what I meant by core
> > synchronization. If you want some interesting herd synchronizing behaviour,
> > build several Pentacore bots and connect a visible LED and a IR LED (IR
> > beacon) to the output of the first NV after the PNC. Then the PNC of the
> > "fastest" bot will time out and at the start of that bot's step cycle it
> > will radiate an IR pulse which will trigger the next nearest bot and that
> > one to the next cascading away from the center until all the bots within the
> > receiving radius take one step cycle with a wave of blinking visible and IR
> > LEDs, one step after another.
> >
> > sound like fun?
> >
> > enjoy
> >
> > Wilf Rigter mailto:wilf.rigter@powertech.bc.ca
>
> --
> Chiu-Yuan Fang
> chiumanfu@home.com
> ICQ=5614919
> http://www.geocities.com/SouthBeach/6897/beam2.html
--
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