KoreanEnglish ROBOONE Korea Official Site Homesitemapmailadmin
¸ðÀÓ¼Ò°³ÀÏÁ¤°ü¸®°øÁö»çÇ×°Ô½ÃÆÇÀÚ·á½Ç´ëȸÇöȲROBO-ONE Japan
 
ÀÚ·á½Ç > °­ÁÂÀÚ·á
°Ô½Ã¹° ¹øÈ£    23 - 1 ÀÛ ¼º ÀÏ    2003-07-30  15:26:09
±Û ¾´ ÀÌ    ±è³«Çö Homepage     http://ee.korea.ac.kr/~vester

Á¶È¸ : 6104 ŸÀÌ¸Ó Çϳª·Î 8°³ÀÇ ¼­º¸¸ðÅÍ µ¹¸®´Â pseudoÄÚµå.. ¼öÁ¤Çϱ⠻èÁ¦ÇÏ±â   
¾Æ´ÂºÐÀº ´Ù ¾Æ½Ã°ÚÁö¸¸ Ȥ½Ã³ª ÇÊ¿äÇÑ ºÐÀÌ ÀÖÀ»±îºÁ ¿Ã¸³´Ï´Ù.

ÀÏ´Ü Å¸À̸ÓÀÇ µ¿ÀÛÀ̳ª ÀÔ/Ãâ·Â¿¡ °üÇÑ ³»¿ëÀº ¾î´ÀÁ¤µµ ¾Æ´Â »ç¶÷À» À§ÇØ ÀÛ¼ºÇß½À´Ï´Ù.

ÆÄÇüÀÇ ±×¸²ÀÌ ¾Æ±Í°¡ ¸ÂÁö ¾ÊÀ»¶§´Â ¸Þ¸ðÀå¿¡ º¹»çÇϱâ/ºÙÀ̱⸦

Çؼ­ º¸½Ã¸é Á¦´ë·Î µÈ ±×¸²À» º¼ ¼ö ÀÖ½À´Ï´Ù.

Ȥ½Ã ±Ã±ÝÇϽÅÁ¡À̳ª ´õ ÀÚ¼¼ÇÑ ³»¿ëÀÌ ÇÊ¿äÇϽźÐÀº ´ä±Û ¸»°í

Àú¿¡°Ô ¸ÞÀÏ Áֽñ⠹ٶø´Ï´Ù.

===================================================
//ŸÀÌ¸Ó ÀÎÅÍ·´Æ® ÇÔ¼ö
void timer0(void)
{
if(flag)
{
port = 0x01<<motorIndex;
countValue = dat[motorIndex];
flag = 0;
}
else
{
port = 0;
countVlaue = 2500 - dat[motorIndex];
motorIndex++;
motorIndex %= 8;
flag = 1
}
}


//ŸÀÌ¸Ó ÀÎÅÍ·´Æ® ÇÔ¼ö(¼Óµµ°ü·Ã ºÎºÐ ³ÖÀº°Í)
void timer0(void)
{
if(targetDat[motor0] > dat[motor0])dat[motor0] += velocity[motor0];
else if(targetDat[motor0] < dat[motor0])dat[motor0] -= velocity[motor0];

if(flag)
{
port = 0x01<<motorIndex; //ÀÌ °ªÀ» Æ÷Æ®¸¦ ÅëÇØ Ãâ·ÂÇÑ´Ù.
countValue = dat[motorIndex]; //ÀÌ °ªÀ» ŸÀ̸Ó/Ä«¿îÆ® ·¹Áö½ºÅÍ¿¡ ¼¼ÆÃÇÑ´Ù.
flag = 0;
}
else
{
port = 0;
countVlaue = 2500 - dat[motorIndex];
motorIndex++;
motorIndex %= 8;
flag = 1
}
}

*º¯¼ö ¼³¸í:
flag : Àü¿ªº¯¼ö, intÇüÀ̵ç, char ÇüÀÌµç »ó°ü ¾ø´Ù.
ŸÀ̸Ӱ¡ °É¸®¸é¼­ 1À» Ãâ·ÂÇÒ Â÷·ÊÀÎÁö, 0À» Ãâ·ÂÇÒ Â÷·ÊÀÎÁö¸¦
ÀúÀåÇÏ´Â º¯¼ö
port : ÀÌ °ªÀ» Ãâ·ÂÆ÷Æ®¸¦ ÅëÇØ Ãâ·ÂÇÑ´Ù. »ç¿ëÇÏ´Â ÄÄÆÄÀÏ·¯¸¶´Ù ´Ù¸£Áö¸¸
outport¸¦ ÀÌ¿ëÇϰųª ·¹Áö½ºÅÍ ÁÖ¼Ò¸¦ ÀÌ¿ëÇØ Ãâ·ÂÇÑ´Ù.
Æ÷Æ®´Â 8ºñÆ®°¡ ¼ø¼­´ë·Î µÇ¾îÀִ°ÍÀ» »ç¿ëÇÑ´Ù.
countValue : ŸÀ̸Ó/Ä«¿îÆ®°ª. high½ÅÈ£°¡ Ãâ·ÂµÇ´Â ±æÀÌÀÌ´Ù.
¿©±â¼­´Â 2500À̶ó´Â °ªÀÌ ¼¼ÆõǾî ÀÖÀ» °æ¿ì ŸÀ̸ÓÀÇ ÁֱⰡ 2.5ms°¡
µÈ´Ù°í °¡Á¤ÇÏ¿´´Ù. ŸÀ̸ÓÀÇ ¼¼Æÿ¡ µû¶ó ÀÌ °ªÀº ´Þ¶óÁö°Ô µÈ´Ù.
motorIndex : ¾î´À ¸ðÅÍ(¶Ç´Â Æ÷Æ®ÀÇ ¾î´À ºñÆ®)¿¡ ÇØ´çÇÏ´Â PWMÀ»
Ãâ·ÂÇÏ´ÂÁö¸¦ ÀúÀåÇÏ°í ÀÖ´Â º¯¼ö. 0~7±îÁöÀÇ °ªÀ» °®´Â´Ù.
dat[] : ŸÀ̸Ó/Ä«¿îÆ®¿¡ µé¾î°¥ °ª. ÀÌ °ªÀ» Á¶Á¤ÇØ ÁÜÀ¸·Î½á °¢µµ¸¦ Á¶Á¤ÇÒ¼ö ÀÖ´Ù.
¿©±â¼­´Â dat[]ÀÇ °ªÀÇ 1500À» °¡Áú¶§ highÀÇ ½ÅÈ£°¡ 1.5ms°¡ µÇ¸ç,
¼­º¸¸ðÅÍ°¡ Áß°£¿¡ ¿À°Ô µÈ´Ù.

*Áï 2.5ms¸¶´Ù ŸÀ̸Ӱ¡ µÎ¹ø¾¿ °É¸®°Ô µÇ¸ç, ÇѹøÀº high·Î, ÇѹøÀº low·Î ½ÅÈ£¸¦ ¹Ù²Ù¾îÁÖ°Ô µÈ´Ù.
ÀÌ·¯ÇÑ µ¿ÀÛÀÌ 20msµ¿¾È 8¹ø ¹ß»ýÇϸç, ÀÌ 8¹ø µ¿¾È motorIndex¶ó´Â °ª¿¡ µû¶ó
Á¤ÇØÁø ¸ðÅÍ¿¡ ÇØ´çÇÏ´Â Æ÷Æ®¿¡ high¿Í low¸¦ Ãâ·ÂÇØÁØ´Ù. ŸÀ̹ÖÀº ´ÙÀ½°ú °°´Ù.

       __
Æ÷Æ®0  | |_______________________________
           __
Æ÷Æ®1  ____| |___________________________
               __
Æ÷Æ®2  ________| |_______________________
                   __
Æ÷Æ®3  ____________| |___________________

           :                      :
                                __
Æ÷Æ®6  _________________________| |______
                                    __
Æ÷Æ®7  _____________________________| |__


¿©±â¼­ Æ÷Æ® 0¹ø°ú 1¹øÀÇ Ã³À½ 5.0ms±¸°£À» È®´ëÇØ º¸¸é
         ___________
        |           |
0       |           |_____________________________
                              ___________
                             |           |
1       _____________________|           |________


½Ã°£(ms) 0         1.5       2.5         4.0      5.0

ÀÌ¿Í°°Àº ½ÄÀÌ µÈ´Ù. ¿©±â¼­ 1.5ms³ª 4.0ms´Â ¼­º¸¸ðÅÍ°¡ Áß°£¿¡ ¿À´Â °ªÀ̸ç, dat[]°ª¿¡ µû¶ó
´Þ¶óÁö°Ô µÈ´Ù. ±×¸®°í 2.5ms³ª, 5.0ms´Â º¯ÇÏÁö ¾Ê´Â´Ù.


*¼Óµµ°ü·ÃºÎºÐ¿¡ Ãß°¡µÈ º¯¼ö
targetDat[] : ¸ðÅÍÀÇ ¸ñÇ¥ °¢µµ¸¦ ´ã°í ÀÖ´Â º¯¼ö. ¸Å¹ø ŸÀÌ¸Ó ÀÎÅÍ·´Æ®°¡ °É¸±¶§¸¶´Ù
dat[]°ªÀÌ targetDat[]¸¦ µû¶ó°¡µµ·Ï µÇ¾î ÀÖ´Ù.
velocity[] : ¸» ±×´ë·Î ¸ðÅÍÀÇ ¼Óµµ. dat[]°ªÀÌ targetDat[]°ªÀ» µû¶ó°¡´Âµ¥ ÀÖ¾î
¾ó¸¶³ª »¡¸® µû¶ó°¡´ÂÁö¸¦ Á¤Çؼ­ ¼Óµµ¸¦ Á¶ÀýÇÑ´Ù. Áï Å« °ªÀ» °¡Áú¼ö·Ï
ºü¸¥ ¼Óµµ°¡ ³ª¿À°Ô µÈ´Ù.

 

´äº¯Çϱ⠸ñ·Ïº¸±â ÀÌÀü±Û ´ÙÀ½±Û

[ ÇöÀç ÆäÀÌÁö Àüü ¸ñ·Ï ]
    Á¦                  ¸ñ ±Û ¾´ ÀÌ µî ·Ï ÀÏ Á¶È¸ ¹ÞÀ½
29   ìí °æ»ç¤ý¿äöÁöÇü À̵¿ÇÏ´Â ·Îº¿ °³¹ß °ü¸®ÀÚ 2005-05-17 3760
28   RFID, USN, Ubiquitous ¶õ? °ü¸®ÀÚ 2005-02-01 4234
27   ¸ð¹ÙÀÏ RFID ¹«¾ùÀΰ¡? °ü¸®ÀÚ 2005-01-29 4420
26 ÆÄÀϹޱâ:1101858944000000000.PPT(3371K) ºí·Î±×¶õ(What Blog?) °ü¸®ÀÚ 2004-12-02 3460 70
25 ÆÄÀϹޱâ:MGR-K201_demo(v1.0).zip(24K) [ÇÁ·Î±×·¥ ¼Ò½º] MGR-K201¿ë µ¥¸ðÇÁ·Î±×·¥ 1.0 ¸Þ°¡·Îº¸Æ½½º 2003-12-03 5448 270
         [ÇÁ·Î±×·¥ ¼Ò½º] MGR-K201¿ë µ¥¸ðÇÁ·Î±×·¥ 1.0 À¯±â¸¸ 2004-02-11 4322
24 ÆÄÀϹޱâ:pyro.doc(800K) 2Á··Îº¿ ¼èµ¹ÀÌ Á¦À۱⠱賫Çö 2003-09-22 7994 785
23   ŸÀÌ¸Ó Çϳª·Î 8°³ÀÇ ¼­º¸¸ðÅÍ µ¹¸®´Â pseud... ±è³«Çö 2003-07-30 6104
22 ÆÄÀϹޱâ:order2.dwg(29K) ¼èµ¹ÀÌÀÇ Àü°³µµ2ÀÔ´Ï´Ù. ±è³«Çö 2003-07-30 4848 55
21 ÆÄÀϹޱâ:order1.dwg(25K) ¼èµ¹ÀÌÀÇ Àü°³µµ1 ÀÔ´Ï´Ù. ±è³«Çö 2003-07-30 5225 61
 
Copyright ¨Ï Since 2005 www.robo-one.or.kr All rights reservd. Designed by SaehanDataSystem
À̸ÞÀÏÁÖ¼Ò ¹«´Ü¼öÁý °ÅºÎ