print barcode in c#.net Modifying an R/C Servo for Continuous Rotation in Software

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Modifying an R/C Servo for Continuous Rotation
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The first step in building a mini sumo bot is to modify two standard R/C servos so that they can rotate continuously around instead of having the normal 180 degrees of motion This is a fairly simple modification to make Use the Hitec HS-300, Futaba FP-S148, Tower Hobbies TS-53, or Airtronics 94102 If you use larger servos, then the completed bot will be wider than the 10cm specifications To modify the servos, remove the four screws from the bottom of the servo Remove the servo horn so that only the small output shaft s spline is showing With your thumb on the spline and your two forefingers under the front and real mounting tabs, push down on the spline This will cause the top part of the case to come off Figure 13-2 shows a servo with the top of the case removed You ll then see a set of four gears on the top of the servo Carefully lift the top middle gear off the center spindle shaft, and set down inside the top of the case Then pull the output gear/shaft from the servo
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Internal gears to a standard R/C servo
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You ll notice a small brass shaft from a potentiometer The potentiometer is used to monitor the actual position of the servo s output shaft The next step is to cut the link between the potentiometer and the output shaft By doing this, you can trick the servo into acting like a gearmotor First, you ll have to modify the output gear There is a small, black tab on the top of the gear, as shown in Figure 13-3 Use a sharp knife to cut the tab off Make sure you don t get any cuttings caught in the teeth of this gear Now turn the gear upside-down, and look inside it If you see a metal ring and a small removable elliptical retainer plate that grabbed onto the potentiometer s shaft, remove the metal ring and then remove the retainer After the retainer has been removed, replace the ring back into the gear This ring acts like a bearing, so be careful not to damage it Figure 13-4 shows what this configuration looks like If your gear doesn t have this metal ring and elliptical retainer plate, then you ll need to cut off the output shaft of the brass potentiometer Figure 13-5 shows how to do this with a pair of wire cutters A Dremel cut-off wheel would work also here Just make sure that no cuttings get inside the gearbox Cut the shaft flush to the top of the gear support After both of these modifications, the output gear should freely rotate 360 degrees Now it is time to calibrate the servo Remove the other two gears, and place them in the top of the servo case Plug the servo into an R/C receiver, and turn everything on You will probably notice the motor spinning in one direction On the radio transmitter, move the stick to the center position Then with a pair of needle-nose pliers, rotate the remaining output shaft from the potentiometer until the motor stops turning At this point, you have calibrated the servo to not move when it sees an approximate 15 ms pulse width Now if you move the stick on the radio transmitter, you will notice
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13-3
Removing the tab that prevents 360-degree rotation
that the motor spins one way when the stick is pushed in one direction, and the other way when the stick is pushed in the opposite direction If you want to use a microcontroller, like a Basic Stamp, then you can calibrate the servo by sending the servo a 15 ms pulse, then pausing for 15 ms, and then repeating this loop Once the servo has been calibrated, put all of the gears back in the servo in the opposite order in which you removed them; you might want to write that down ahead of time to help you remember! Place the case cover back on the servo, and then reattach the four screws When the servo has been reassembled, test it again to make sure it was reassembled correctly At this point, you have a miniature gearmotor for miniature robotics applications, such as a mini sumo bot
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