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arduino_servo

Simple DC Motor Servo using Arduino

particle_filter_cuda

Motivation

Building very, very, very large RC Servo

Input signal

Standard PPM signal (like classic RC Servo)

  • D1 Output of servo tester or RC reciever

Output

Driving signal for H-Bridge

  • D9 - PWM output
  • D6 - direction Left
  • D7 - direction Right

Feedback

Rotary Potentiometr

  • A1 - signal from rotary potentiometer

Regulation

ch1_interrupt is called when state of reciever input is changed. Than pulse width is measured. That value is mapped to input value of P controller. That P controller works output mapped to PWM generator and two direction output. Those outputs are controlling motor H-Bridge IC (like VNH 5019)

Plots

Arduino sends over port control setpoint and measurment. Thus it can be plotted.

Step Response

alt text

Sinusoidal Response

alt text

Issues

If you experience constant movement, please check if feedback (rotary potentiometer is connected in right direction).

Road Map

  • Support for multiple RC channels (max 2), maybe SBUS
  • Digital outputs