Alt-BEAM Archive
Message #04640
To: Bruce Robinson Bruce_Robinson@bc.sympatico.ca,
From: Richard Piotter richfile@rconnect.com
Date: Fri, 18 Jun 1999 16:42:17 -0500
Subject: [alt-beam] Re: MECI IV M (Was: Suitable for Framing)
MECI IV M Functional diagram
Microcore _______
o-->o | |
^ | ------->|Nv 1,3 |
| v ------->|Nv 2,4 |
o<--o | | ________
| MUX | | |
Nv chain to | | | |
lift the robot |OUT 1,3|----->|IN 1,3 |
|OUT 2,4|----->|IN 2,4 |
.-----+---------->|Nv 1,3 | | |
| | | | | OUT 1,3|---->LEG MOTORS 1,3
o->o->o->o--+---->|Nv 2,4 | | OUT 2,4|---->LEG MOTORS 2,4
^ |________| | | | |
| ,->|CTRL | |REVERSER|
| / |_______| | MUX |
| / | |
| / .------------>|REV 1,3 |
| P-INIT | | | |
'-----------+ +-->|--+----->|REV 2,4 |
| | | |________|
LEFT LEFT |
OR FALL |
RIGHT ONLY |
|
Fall triggers |
|
Reverse trigger
Left fall trigger will trigger both reverses, while the reverse trigger
only triggers one reverese
Both left and right fall triggers will trigger the Nv chain as well as
the first MUX.
A right trigger must disable the walk reverse trigger???
Obviously, I have work to do yet, but it's a start.
Bruce Robinson wrote:
>
> Richard Piotter wrote:
> >
> > Jeez! I realy need to work on MECI IV M, but I havn't touched it in
> > months! I know how to do the sequencing, but I also need to switch
> > control of the motors to a diferent source.
>
> I'm curious, Richard. What do you mean by "switch control to a different
> source"? Sounds like something I'm starting to play with.
>
> Regards,
> Bruce
--
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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