Commit b429fc3c authored by anithghalley's avatar anithghalley
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output week final push

parent 8caf002d
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......@@ -36,6 +36,27 @@ And the output device is the micro servo motor, the image below shows the color
- A servo motor uses feedback in order to control the motor's position, speed, or torque.
The position of the servo motor is determined by the length of the pulse given by the controllor. Hence the principle of Pulse width modulation is used to control the position of the shaft.
When you send the servo a signal with a pulse width of 1.5 milliseconds (ms), the servo will move to the neutral position (90 degrees). The min (0 degrees) and max (180 degrees) position typically correspond to a pulse width of 1 ms and 2 ms respectively.
First, the desired angle trajectory is sent to a small built-in board from a microcontroller via a pulse width modulation duty signal. Second, the board receives the current angle position as proportional voltage through a potentiometer. Third, the board calculates the control input required to achieve the desired angle trajectory. Fourth, the DC motor is actuated by the torque exerted by the control voltage. Fifth, the generated torque is transmitted to the load shaft on which the potentiometer is placed. Finally, the above-mentioned steps are repeated with a fixed sample time.
**Technical Details of servo motor:**
Size: 23.1 mm x 12.2 mm x 29 mm
Working Voltage: 4.8-6v
Weight: 9 g
Speed at 4.8 V: 0.06 - 0.12 sec/60°
Compulsion Torque: 1.3 kg/cm
Torque: 0.06 - 0.12 sec/60°
Cable Lenght: 15 cm
## Schematic Design.
For this design purpose I used the Kicad Software since it is open source and it would much realiable in the future as wheel.
......@@ -175,10 +196,11 @@ And the video below shows the code execution with the adafruit soft servo librar
<source src="../../images/output/videos/ada_servo.mp4" type="video/mp4">
# Files.
## Files.
- [SoftwareServo Library](../files/output/
- [Adafruit_SoftServo Library](../files/output/
- [Manipulated Trinket Knob Code](../files/output/
- [Edge Cut Png](../images/output/edge_cut.png)
- [Front Traces](../images/output/front_trace.png)
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- [Front Traces](../images/output/front_trace.png)
- [Kicad File](../files/output/
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