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To make the servo table maintain horizontal position in both directions, we have to add the code for the second servo. Because this is essentially a repeat of the singleaxis operation, this is left up to you. Once both axes are operational, see what needs to be done to make the operation of the table as crisp and responsive as possible.
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hint We know there is a 1/60th of a second worst-case delay in the operation of the servos that will limit the speed of the response, but other things may be possible, such as moving in larger steps to correct the positional errors and creating a totally new algorithm for the correction.
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I cannot overemphasize the fact that we learn best by doing. Therefore, it is important that you actually build a table because you will discover all kinds of things about its operation that I cannot possibly convey in words. I have made it as simple and as inexpensive as I could for you to be able to undertake this exercise. Do it! The easiest way for us to construct the table is to build two tables, one above the other, with the two controlled axes at right angles to one another. The major problem is that the two axes will not be completely independent because of the mechanical interactions in a simple and not very precise cardboard construction. Because the correcting mechanism designed for each table setup will be different, the implementation thereof will be left up to each individual constructor. However, we have covered the general principals. Using an integrating scheme to make the corrections eliminates the need for absolute corrections. Figure 27-3 shows a table I built out of cardboard. The table components were cut out from an old cardboard box with a box knife and a pair of scissors and then put together with hot glue. Because our interest is in the control of the table as opposed to the table itself, a simple cardboard model allows us to do what we want at minimal cost and with minimal effort. Fortunately, the slight sloppiness and inaccuracies in the construction of the table lend themselves to software corrections. After the servos have been added to the table and the sensor placed on the top surface, the table mechanism then looks like what is shown in Figure 27-4.
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Figure 27-3 Picture of a simple horizontal table and the gravity sensor.
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note The basic table mechanism can be made out of cardboard. note Mechanical inaccuracies will be compensated for by the software.
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The Memsic detector we are using needs two wires between the sensor and the Propeller, a power connection, and ground. A simple extension cable with a fourpoint female or male end can be made to fit to the breadboard. Because we are using
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Figure 27-4 Picture of the cardboard table mechanism with servos installed.
a relatively expensive sensor, we will not want to solder to it. Therefore, suitable slip-on connections should be provided on the sensor end also. It is left up to you to modify the software to increase the speed with which the table returns to horizontal after the base has been moved. Rather crisp operation is possible with a little imagination.
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If you are not yet quite comfortable with the parallel Propeller system, you may want to wait until you are before you address this next to last chapter in the book. It is important that you understand each and every line of code in all these programs. There are subtle changes in the successive programs, and I have tried to call them out for you, but you still need to go over each program a line at a time and understand it. These small motors have simple two-phase quadrature encoders attached to them. They are available at Encodergeek.com (see Figure 28-1).
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