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Using a pressure sensor to control the gripper

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Posted: 2011-01-13 17:34 
I've put together a module that will open the gripper and also close it until a pressure sensor meets the given threshold. It's nothing too complicated and it was fun to make.


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Gripper.fsm [287.64 KiB]
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Devon Simmons, Former Programmer for Lynxmotion.
I can try to help, but I can only offer you my best effort.
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Posts: 253
Posted: 2011-01-17 15:25 
I've made a huge change to the gripper control, it now uses a counter instead of arrays to generate the servo pulses. it is now much more stable and reliable!


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Gripperv3.fsm [284.55 KiB]
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Devon Simmons, Former Programmer for Lynxmotion.
I can try to help, but I can only offer you my best effort.
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Posted: 2011-01-17 18:03 
This go around i've used a pid module to control the gripper movement. using the pulse widths as a target it calculates each step to open or close the gripper.


Attachment:
Gripperv4.fsm [286.98 KiB]
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Devon Simmons, Former Programmer for Lynxmotion.
I can try to help, but I can only offer you my best effort.
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Posts: 253
Posted: 2011-01-18 18:38 
This version of the module uses the pressure as the measurement. I'm having a problem with it oscillating open and closed. I believe the cause is due to the fact that the pressure sensor can't be read constantly, only intermittently. I would appreciate any thoughts on this problem.


Attachment:
Gripperv5.fsm [287.96 KiB]
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_________________
Devon Simmons, Former Programmer for Lynxmotion.
I can try to help, but I can only offer you my best effort.
 

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