Position feedback on 5990TG
Position feedback on 5990TG
by Enderwiggins
Sun Feb 14, 2010 4:17 pm
I'm trying to get position feedback from my 5900tg's using extended pulse mode, I'm using an atxmega128 and C I think I understand how the pulses work but I'm not sure how to implement it in the code, do I need to send the pulse then switch the pin to input read the position pulse then switch it back to output to continue operation? I'm very confused so please forgive me if that made no sense.
by i-Bot
Sun Feb 14, 2010 4:41 pm
This seems a long time ago, but based on what I found for the HSR8498:
http://robosavvy.com/Builders/i-Bot/HSR ... 0Servo.pdf
Drive the pin with the +ve short pulse and hold low for a short time, then change to input and wait for the pulse back. Changing the pin direction as you describe is the way to do it on mega128.
You need to check a valid low returned and a valid pulse is then returned and ignore if no pulse, or discard if too long. It does happen !
After using the input, you need to resume the output pulses.
http://robosavvy.com/Builders/i-Bot/HSR ... 0Servo.pdf
Drive the pin with the +ve short pulse and hold low for a short time, then change to input and wait for the pulse back. Changing the pin direction as you describe is the way to do it on mega128.
You need to check a valid low returned and a valid pulse is then returned and ignore if no pulse, or discard if too long. It does happen !
After using the input, you need to resume the output pulses.
