Actually your project spectacular and I would like to know more details about your project;
* Which controller do you using? Servo driver or PLC? or maybe some circuit designed by yourself.
* Is lazarus using as main development tool? or do you using as supervisory software?
Hi,
1.steppers are connected to stepper controllers M545 (all from China)
2.as a servo controller is atmega8. so one atmega for one stepper. atmega is responsible for:
- step/dir generator
- quadrature encoder reader
- some other works
- i2c communication with RPi
lazarus is used for writing the main program on RPi. Its task is to send datas i.e. velocity, distance (encoder pulses), checking errors from atmegas, interact with user. There is no "magic" libs to control servos.
TODO:
- inverse kinematic - maybe sometime
- moving robotic arm directly from a program though i don't know what is the point. I do it because my children want