vb.net barcode reader from image A CAUTION ON MODIFYING SERVOS in Software

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22.10.4 A CAUTION ON MODIFYING SERVOS
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Modifying a servo typically entails removing or gutting the potentiometer and clipping off any mechanical stops or nubs on the output gear. For all practical purposes, this renders the servo unusable for its intended use, that is, to precisely control the angular position of its output shaft. So, before modifying a servo, be sure it s what you want to do. It ll be difficult to reverse the process, and in any case you are voiding its warranty.
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22.10.5 SOFTWARE FOR RUNNING MODIFIED SERVOS
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Even though a servo has been modified for continuous rotation, the same digital pulses are used to control the motor. Keep the following points in mind when running modified servos:
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If you ve used fixed resistors in place of the original potentiometer inside the servo, sending a pulse of about 1.5 ms will stop the motor. Decreasing the pulse width will turn the motor in one direction; increasing the pulse width will turn the motor in the other direction. You will need to experiment (using the calibrate program) with the exact pulse width to find the value that will cause the motor to stop. If you ve used a replacement 5K potentiometer instead of the original that was inside the servo, you have the ability to set the precise center point that will cause the motor to stop. In your software, you can send a precise 1.5 ms pulse, then adjust the potentiometer until the servo stops. As with fixed resistors, values higher or lower than 1.5 ms will cause the motor to turn one way or another.
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22.10.6 LIMITATIONS OF MODIFIED SERVOS
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Modifying a servo for continual rotation carries with it a few limitations, exceptions, and gotchas that you ll want to keep in mind:
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The average servo is not engineered for lots and lots of continual use. The mechanics of the servo are likely to wear out after perhaps as little as 25 hours (that s elapsed time), depending on the amount of load on the servo. Models with metal gears and/or brass bushing or ball bearings will last longer. The control electronics of a servo are made for intermittent duty. Servos used to power a robot across the floor may be used minutes or even hours at a time, and they tend to be under additional mechanical stress because of the weight of the robot. Though this is not exactly common, it is possible to burn out the control circuitry in the servo by overdriving it.
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22.11 ATTACHING MECHANICAL LINKAGES TO SERVOS
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Standard-sized servos are not particularly strong in comparison to many other DC motors with gear heads. Don t expect a servo to move a 5- or 10-lb robot. If your robot is heavy, consider using either larger, higher-output servos (such as 1 4-scale or sail winch), or DC motors with built-in gear heads. Last and certainly not least, remember that modifying a servo voids its warranty. You ll want to test the servo before you modify it to ensure that it works.
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22.10.7 MODIFYING BY REMOVING THE SERVO CONTROL BOARD
Another way to modify a servo for continuous rotation is to follow the steps outlined previously and also remove the control circuit board. Your robot then connects directly to the servo motor. You d use this approach if you don t want to bother with the pulse width schema. You get a nice, compact DC motor with gearbox attached. However, since you ve removed the control board, you will also need to provide adequate power output circuitry to drive the motor. The circuitry built onto the servo PCB was designed for the motor; ideally, you might want to do a bit of probing on the servo PCB to try and figure out what are the components and circuit used in the motor driver so that you can replicate it rather than having to come up with your own circuit.
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