Need help installing RAS-2 sensor in KHR-3HV
Need help installing RAS-2 sensor in KHR-3HV
by Nim___
Sun Jan 23, 2011 5:19 am
Well my RAS-2 and cables just arrived in the mail. I really did expect the instruction sheet to be in Japanese-only... honest I did! What I did not expect was the total lack of any sort of diagram showing how to hook it up to the RCB-4HV board. After a futile 50 minutes of web searching I'm not sure what to do. Would any of you good people be able to point me at some usable help doc? I'll take any scrap or clue. My appreciation in advance.
by chrisvo
Mon Jan 24, 2011 1:20 pm
On the RCB-4, you will see ports labeled AD1, AD2, AD3, etc. Plug the RAS-2 into one of those, black wire is GND and faces towards the edge of the board. Note that the rotational measurement axis of the RAS-2 is along the length of the body (parallel to the direction the pins are coming out) so you will need to mount the RAS-2 appropriately to measure the rotational speed you are interested in.
Then on the software end, you can do a number of things:
- "Mixing", where you select a servo, choose an AD port, set a multiplier value. It will take the AD port value, multiply it by the multiplier you specify, and then apply it to the selected servo. You can configure mixing on boot-up via the Config dialog in HTH4 (the red wrench icon), or within a motion by placing Mixing toolbox item into your motion. Mixing makes more sense for a Gyro, not accelerometer, because the RAS-2 will be too noisy for static stability.
- CompareAD, is a toolbox item that you can place into your motion and branch depending on the value of the AD. For example, you can check an AD to see if you have fallen and if so, get up.
Then on the software end, you can do a number of things:
- "Mixing", where you select a servo, choose an AD port, set a multiplier value. It will take the AD port value, multiply it by the multiplier you specify, and then apply it to the selected servo. You can configure mixing on boot-up via the Config dialog in HTH4 (the red wrench icon), or within a motion by placing Mixing toolbox item into your motion. Mixing makes more sense for a Gyro, not accelerometer, because the RAS-2 will be too noisy for static stability.
- CompareAD, is a toolbox item that you can place into your motion and branch depending on the value of the AD. For example, you can check an AD to see if you have fallen and if so, get up.
