Difference between revisions of "Upright"
From DIDEAS Wiki
m |
m |
||
Line 1: | Line 1: | ||
=Sensors= | =Sensors= | ||
− | * SG1 (torque) -> SG channel 1 (2.0k, 500x) | + | * Hall sensor : AN12 -> PB12 -> adc_0 |
− | * SG2 (compression) -> SG channel 2 (8.2k, 122x) | + | * SG1 (torque) -> SG channel 1 (2.0k, 500x) -> PB0 -> adc_1 |
− | * SG3 (series) -> SG channel 3 (5.9k, 170x) | + | * SG2 (compression) -> SG channel 2 (8.2k, 122x) -> PB1 -> adc_2 |
+ | * SG3 (series spring) -> SG channel 3 (5.9k, 170x) -> PB2 -> adc_3 | ||
+ | |||
**INA326 gain : 2 * R2/R1 = (2 * 500k/xx) | **INA326 gain : 2 * R2/R1 = (2 * 500k/xx) | ||
Revision as of 19:17, 2 July 2008
Sensors
- Hall sensor : AN12 -> PB12 -> adc_0
- SG1 (torque) -> SG channel 1 (2.0k, 500x) -> PB0 -> adc_1
- SG2 (compression) -> SG channel 2 (8.2k, 122x) -> PB1 -> adc_2
- SG3 (series spring) -> SG channel 3 (5.9k, 170x) -> PB2 -> adc_3
- INA326 gain : 2 * R2/R1 = (2 * 500k/xx)
AKCPU2Z Modifications
- verify JR1 is in position in 2-3
- change RB1 from 470 ohm to 0.0 ohms.
UPSG1
- U1-U3 populated with 4.096V reference, X60003CIG3Z-41T1CT-ND
BLMD6C
- more details for uprights here.
Software Modifications
- QEI changed from 4x to 2x mode as:
- 1) encoder has higher resolution
- 2) gear ratio is higher.
- even in 2x mode, max planterflexion results in count of -27k, close to limit of -32k