Pololu Simple Bedienungsanleitung PDF herunterladen (Seite 47)

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could use the kill switch feature and the Serial/USB input mode to make an autonomous robot that you can

conveniently immobilize from a distance using an RC transmitter and receiver.

The Forward and Reverse Limit Switch options allow you to set up limits that prevent your actuator from moving

out of its allowed range. See Section 4.4 for information about connecting limit switches. You will probably want to

avoid setting a motor deceleration limit if you are using a limit switch, because the deceleration limit will prevent the

motor from stopping immediately: when the switch is triggered, the motor will gradually decelerate from its current

speed to zero, which might be bad for your system depending on how it is set up.

Any channel configured as a limit or kill switch is considered a required channel. This means that the motor will stop

if that channel becomes disconnected (the Required channel invalid error will occur).

Learn button

The Learn… button launches the Channel Setup Wizard, which lets you quickly calibrate your input channel or limit

switch. Before using this wizard, you should select your desired Alternate Use and if you are configuring an analog

channel then you should first enable the pull-up resistor and check “Ignore Pot Disconnect” in the Advanced Settings

tab if necessary.

Enable pull-up resistor (analog channels only)

When checked, the Enable pull-up resistor option enables a pull-up resistor on the selected analog input line. The

value of the resistor is approximately 40 kΩ and it pulls the line up to 3.3 V.

Scaling Parameters

The rest of channel-specific settings are all scaling parameters, which means they specify how the Scaled Value of the

input channel is calculated from its Raw Value. They also specify the normal range of the input channel. All of these

parameters except Scaling degree can be easily set using the Learn… button.

The Raw Value of a channel is measured directly from the input pin. For RC channels, the Raw Value is the width

of received pulses in units of 1/4 μs; typical RC receivers will generate signals between 4000 (1000 μs) and 8000

(2000 μs). For Analog channels, the Raw Value is a 12-bit measurement of the voltage on the input line: 0 is 0 V and

4095 is 3.3 V. You can see the raw value of the selected channel by looking at the “Current channel value” label or by

looking at the Status tab.

If the Raw Value is less than Error min or greater than Error max, then the channel is considered invalid and the

Scaled Value is not computed. Otherwise, the Scaled Value of a channel is calculated from the Raw Value using the

scaling parameters. Specifically:

• Raw values between Error min. and Minimum map to a Scaled Value of -3200 (or 3200 if “Invert input

direction” is checked).

• Raw values between Minimum and Neutral minimum map to a Scaled Value between -3200 (or 3200 if

“Invert input direction” is checked) and 0.

• Raw values between Neutral minimum and Neutral maximum map to a Scaled Value of 0.

• Raw values between Neutral maximum and Maximum map to a Scaled Value between 0 and 3200 (or -3200

if “Invert input direction” is checked).

• Raw values between Maximum and Error max. map to a Scaled Value of 3200 (or -3200 if “Invert input

direction” is checked).

By default, the scaling is linear, but you can change the Scaling degree to use a higher-degree polynomial function,

which gives you better control for low speeds.

5. Configuring Your Motor Controller Page 47 of 101

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