Alt-BEAM Archive
Message #07199
To: beam@sgiblab.sgi.com
From: Sean Rigter rigter@cafe.net
Date: Sat, 30 Oct 1999 20:54:19 -0700
Subject: [alt-beam] Re: HemiCore
Very nicely done, and an interesting new design approach.
regards
wilf
BotDoc wrote:
> Attached is the schematic of a circuit that I call a
> hemicore, with a monocore slave. It functions as a
> tri-state bicore and is divided up into 2 asymetrical
> hemispheres that are coupled together. Each
> hemisphere is itself an off duty bicore (i.e. 45/55
> and 55/45 duty cycles)and on an opposite sides of a
> 240. When both of the enable pins are low, the
> asymetrical hemispheres create a stable 50/50
> bicore... this is the normal walking gate. The duty
> pulse length is determined by treating the 2 off sized
> resistors as they are parallel. When one of the
> enable pins is bought to v+ (with a power smart head,
> touch sensor, or any logic output) it turns off one of
> the hemisperes, leaving only one oscillating at an off
> center duty cycle (45/55). This results in turning.
> How long the motor turns one way with respect to the
> other way is set by the difference between the 2
> different resistors on the same bicore. If you want
> it to turn the other way, just raise the other enable
> pin. and drop the first one.
> justin
>
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