Path: utzoo!utgpu!jarvis.csri.toronto.edu!mailrus!ncar!unmvax!tut.cis.ohio-state.edu!ucbvax!robots.oxford.ac.uk!rwd
From: rwd@robots.oxford.ac.uk (rwd, Ron Daniel)
Newsgroups: comp.sys.transputer
Subject: Real time control
Message-ID: <8902090950.AA06481@uk.ac.oxford.robots>
Date: 9 Feb 89 09:50:20 GMT
Sender: daemon@ucbvax.BERKELEY.EDU
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>Has anyone any experience in using encoders with transputers?
We have designed our own board for sending information from 6 encoders
down a link via a C011 using TCHT2000 chips.  We are using the system
for controlling a robot and are able to:
    interrogate the system for the state of the index pulses
    set the encoder counts to any predefined 16 bit number.
    read out the position of the encoders
    obtain velocity information
The system has been designed for very high performance direct digital
control, hence the velocity information.  However, the PALs we have blown
which controls the system require the link to accept position plus
velocity at each sample interval.  We generate velocity directly from
the encoder quadrature signals to avoid quantisation problems at high
sample rates.  If you want more information give me a ring.
Ron Daniel

Oxford University
Department of Engineering Science
Parks Road
Oxford OX1 3PJ
U.K.

Tel 0865-273153 or 0865-273147