Mindsensors NXTMMX-v2 Скачать руководство пользователя

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Programming Techniques for NXTMMX

EV3 Method:

To use capabilities of the sensor, please download EV3
blocks available at the following URL:

http://www.mindsensors.com/index.php?
controller=attachment&id_attachment=156

Installation instructions for EV3 block are available at:

http://www.mindsensors.com/content/13-how-to-install-blocks-in-
ev3

Download EV3 sample program from following URL and modify it to
suit your needs.

http://www.mindsensors.com/index.php?
controller=attachment&id_attachment=155

NXT-G Method:

Please download custom NXT block from following
URL and import it into your NXT-G IDE.

http://www.mindsensors.com/index.php?
controller=attachment&id_attachment=96

If you need instructions on how to import this block in NXT-G, visit
following url:

http://www.mindsensors.com/content/21-nxt-g-blocks-how-to-
install-blocks

Also download sample NXT-G programs from following URL and
modify them to suit your needs:

http://www.mindsensors.com/index.php?
controller=attachment&id_attachment=106

NOTE

Ensure to use latest LEGO firmware on NXT (1.29 or higher).

RobotC Method:

Download the library file from following URL, and at the top of your
RobotC program file, include it with following directive:

#include "NXTMMX-lib.h"

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Содержание NXTMMX-v2

Страница 1: ...ensors please read the relevant section from the Advanced Information Appendix of this doc Mounting NXTMMX on your contraption The holes on the NXTMMX enclosure are designed for tight fit of Technic pins or axles with cross section The holes however are not designed for repeated insertions removals of these pins To mount NXTMMX on your contraption we suggest that you use two dark gray Technic Axle...

Страница 2: ...y store To connect these batteries to NXTMMX you can purchase a connector cable from the following location http www mindsensors com rpi 10 rc battery pack connector cable Lithium Polymer Battery also known as Li Po or LiPo batteries With NXTMMX use 7 4 Volts battery Select the capacity based on your load and anticipated duration of use For nominal load we recommend 7 4Volts 800 mAh battery You ca...

Страница 3: ... free to rotate by external force Holding Encoder position At the end of run hold the encoder position i e motor turned by external force is restored to last set encoder position Turning motor by degrees Move it in forward or reverse direction Turning motor by rotations 360 degrees makes one rotation Running operations asynchronously While a motor is running other operations may be performed Runni...

Страница 4: ... custom NXT block from following URL and import it into your NXT G IDE http www mindsensors com index php controller attachment id_attachment 96 If you need instructions on how to import this block in NXT G visit following url http www mindsensors com content 21 nxt g blocks how to install blocks Also download sample NXT G programs from following URL and modify them to suit your needs http www min...

Страница 5: ...tion and modify it to meet your needs Current Characteristics Average current consumption of this device is about 5 0 mA NXTMMX can deliver upto 1 Amp current per NXT Motor attached Drawing of excessively large current such as incorrect motors or stalled motors will result in internal shutdown until the situation is corrected I2C Bus address Factory Default Address 0x06 Changing the I2C Bus Addres...

Страница 6: ...http www mindsensors com blog how to change i2c device address PiStorms http www mindsensors com blog how to change i2c device address with pistorms Copyright 2016 mindsensors com 6 14 ...

Страница 7: ...e 3 0x45 Most Significant Byte Encoder Target of Motor 1 long 0x46 Speed for Motor 1 byte Speed for Motor 1 byte 0x47 Time to run in seconds for Motor 1 byte Time to run in seconds for Motor 1 byte 0x48 Command register B for Motor 1 Command register B for Motor 1 set this value to 0 as this is for future use 0x49 Command register A for Motor 1 read the description below for details of this regist...

Страница 8: ...0x66 Least Significant Byte 0x67 Byte 2 0x68 Byte 3 0x69 Most Significant Byte 0x72 Status Motor 1 byte See section below for details of this register 0x73 Status Motor 2 byte See section below for details of this register 0x76 Tasks Running for Motor 1 byte 0x77 Tasks Running for Motor 2 byte Registers for Advanced PID control Writing these registers has immediate effect on operation These regist...

Страница 9: ...ositioning but will take longer time Change this only if you need different motor positioning speeds and accuracy For normal usage default values will be OK 0x87 Tolerance The Tolerance in ticks for encoder positioning default 80 Tolerance the accuracy you desire while positioning Low number will position the encoders more accurately but may take longer time Change this only if you need different ...

Страница 10: ...nges are sudden e g full power is applied to motors as they start Bit 2 Relative change based on encoder values This is useful when Bit 3 is turned on and in this case the NXTMMX will make a relative movement from last seen Encoder position it will add the new Encoder position to old position and move to that resulting position Useful when turning by degrees or rotations If this bit is 0 the Encod...

Страница 11: ...egister Each bit in status register indicates various situations with the motor as explained below Register Bit Value 1 indicates the situation is true Least significant bit bit 0 Speed Control is ON Motor is programmed to move at a fixed speed Bit 1 Motor is Ramping up or down If the Power ramp is enabled this bit is 1 while the motor is ramping while changing its speed Bit 2 Motor is powered Thi...

Страница 12: ...ode During moving Position Control bit bit 3 is 1 Motor is Powered bit bit 2 is 1 Finished moving normally All bits are zero Stopped due to stall Position Control bit bit 3 is 1 Motor is Powered bit bit 2 is 1 Stalled bit bit 7 is 1 Running in timed mode During moving Timed Mode bit bit 6 is 1 Motor is Powered bit bit 2 is 1 Finished moving normally All bits are zero Stopped due to stall while tim...

Страница 13: ...MX While using this NXTMMX in your program use the new address picture below shows where to use the new address in NXT G program If you are using any other programming environment the API reference should indicate where to specify the new address If you are daisy chaining 5 or more NXTMMX or other digital sensors you may have to disable Pull up resistors in some of the devices The Pull up resistor...

Страница 14: ...On a smaller scale usually up to 5 devices this deterioration has no effect on I2C network performance however when you add more devices you may encounter data errors Upgrading NXTMMX firmware The NXTMMX is shipped with latest stable firmware if you need to change upgrade the firmware follow the procedure described at URL below http www mindsensors com content 62 firmware upgrader for compatible d...

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