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Dev5994
PostPosted: Thu Jan 13, 2011 4:34 pm 
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I've put together a module that will open the gripper and also close it until a pressure sensor meets the given threshold. It's nothing too complicated and it was fun to make.


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Gripper.fsm [287.64 KiB]
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Devon Simmons, Former Programmer for Lynxmotion.
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Dev5994
PostPosted: Mon Jan 17, 2011 2:25 pm 
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I've made a huge change to the gripper control, it now uses a counter instead of arrays to generate the servo pulses. it is now much more stable and reliable!


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Gripperv3.fsm [284.55 KiB]
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Devon Simmons, Former Programmer for Lynxmotion.
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Dev5994
PostPosted: Mon Jan 17, 2011 5:03 pm 
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This go around i've used a pid module to control the gripper movement. using the pulse widths as a target it calculates each step to open or close the gripper.


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Gripperv4.fsm [286.98 KiB]
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Devon Simmons, Former Programmer for Lynxmotion.
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Dev5994
PostPosted: Tue Jan 18, 2011 5:38 pm 
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This version of the module uses the pressure as the measurement. I'm having a problem with it oscillating open and closed. I believe the cause is due to the fact that the pressure sensor can't be read constantly, only intermittently. I would appreciate any thoughts on this problem.


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Gripperv5.fsm [287.96 KiB]
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Devon Simmons, Former Programmer for Lynxmotion.
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