RoboteQ Dual Channel Digital Motor Controller AX500 用户手册
AX500 Motor Controller User’s Manual
87
Reception Watchdog
the controller captures the full joystick movement, the AX500 defaults to the timing values
shown in Figure 57. These vales can be changed and stored as new defaults.
shown in Figure 57. These vales can be changed and stored as new defaults.
The AX500 has a very accurate pulse capture input and is capable of detecting changes in
joystick position (and therefore pulse width) as small as 0.4%. This resolution is superior to
the one usually found in most low cost R/C transmitters. The AX500 will therefore be able
to take advantage of the better precision and better control available from a higher quality
R/C radio, although it will work fine with lesser expensive radios as well.
joystick position (and therefore pulse width) as small as 0.4%. This resolution is superior to
the one usually found in most low cost R/C transmitters. The AX500 will therefore be able
to take advantage of the better precision and better control available from a higher quality
R/C radio, although it will work fine with lesser expensive radios as well.
Internally, the measured pulse width is compared to the reference minimum, center and
maximum pulse width values. From this is generated a number ranging from -127 (when
the joystick is in the min. position), to 0 (when the joystick is in the center position) to +127
(when the joystick is in the max position). This number is then used to set the motors’
desired speed or position that the controller will then attempt to reach.
maximum pulse width values. From this is generated a number ranging from -127 (when
the joystick is in the min. position), to 0 (when the joystick is in the center position) to +127
(when the joystick is in the max position). This number is then used to set the motors’
desired speed or position that the controller will then attempt to reach.
For best results, reliability and safety, the controller will also perform a series of correc-
tions, adjustments and checks to the R/C commands, as described in the following sec-
tions.
tions, adjustments and checks to the R/C commands, as described in the following sec-
tions.
Reception Watchdog
Immediately after it is powered on, if in the R/C mode, the controller is ready to receive
pulses from the R/C radio and move the motors accordingly.
pulses from the R/C radio and move the motors accordingly.
If no pulses are present, the motors are disabled.After powering on the R/C radio receiver
and transmitter, and if the wiring is correct, the controller will start receiving pulses. For a
preset amount of time, the controller will monitor the pulse train to make sure that they are
regular and therefore genuine R/C radio command pulses. After that, the motors are
enabled.
and transmitter, and if the wiring is correct, the controller will start receiving pulses. For a
preset amount of time, the controller will monitor the pulse train to make sure that they are
regular and therefore genuine R/C radio command pulses. After that, the motors are
enabled.
This power-on Watchdog feature prevents the controller from becoming active from para-
site pulses and from moving the motors erratically as a result.
site pulses and from moving the motors erratically as a result.
Similarly, if the pulse train is lost while the motors were enabled, the controller will wait a
short preset amount of time before it disables the motors. If the pulses reappear during
that time, the controller continues without any breaks. If the communication is confirmed
to be lost, the “no ctrl” message is displayed again.
short preset amount of time before it disables the motors. If the pulses reappear during
that time, the controller continues without any breaks. If the communication is confirmed
to be lost, the “no ctrl” message is displayed again.
1.05ms
min
center
max
joystick position:
R/C pulse timing:
0.45ms
0.9ms
FIGURE 57. Joystick position vs. pulse duration default values