robot main timing
Update of the software for controlling the Robo TX module with external hardware and connection via I2C and the TXT Controller. An additional measurement for the refresch timing of the main program has been added. It is also now possible to make a drawing yourself. Soon another control button will be added to choose between a figure of the character rom or of your own drawing. All positions for placing the steel balls have meanwhile been filled in by calculation. During the tests I saw that the vertical movement is not perfectly perpendicular to the base. The guides of the Fischertechnik blocks are too narrow to do this properly. I have then added an extra correction factor to the calculation, depending on the height of the vertical carriage. This works perfectly so that the position of the steel balls always remains perfectly central with respect to the opening in the wall. The speed during standby, i.e. no command execution, is for the I2C connection 101 and for the main program 51 refresh cycles/sec. That is very good! During run mode, the main is no longer loaded and then the I2C connection has about 200 refresh cycles/sec. All data gets very good new updates. Meanwhile, the screen is updated perfectly and all parameters such as encoder positions and all status values are displayed in perfect order. The TXT Controller does an excellent job with a very nice display on the UHD screen.
Run mode also works. I still have to manually perform the input of the steel balls but all the movements according to the matrix rom are already correct. When I give him the steel balls he places them in the right place in the wall. Soon this supply will also be realised automatically.