Posted in September 2013

LPC1225 and watchdog settings

LPC1225 and watchdog settings

For the last few weeks I only played with my LPC1225 board connected to the debugger and was working fine. When I tried to play with it not connected the board keep reseting itself after a short period. After some research I realised that this is caused by the watchdog, which is activated by default. … Continue reading

PID or no PID?

PID or no PID?

ok, I can now handle 4 motors then what? Actually getting the PWM control working for all motors is just the beginning. Even using 4 motors of the same brand, same model does not mean that all have same performance…. In my case, I am using 4 micro metal-gear motors from POLOLU, the 100:1 HP … Continue reading

Using Quadrature Encoders

Using Quadrature Encoders

I just added a piece of code to handle the encoders I am using on my project. Couldn’t find any library or any details actually on this subject for LPC1225 so I had to do it from scratch. Anyway, for start let’s see how the waveforms looks like. Based on the direction the motor spins … Continue reading

PROCESSING over WIFI

Most of my code on PROCESSING is using serial connection either a cable or XBEE module. Lately, while working on my new 4WD platform I got feed up with all the cables on the table and all the USB ports used so decided to move to WIFI, not only XBEE, a real WIFI connection. I … Continue reading

New project

New project

For last few days I was working on a new project: a self-contained 4WD table-top platform. Using an ARM CortexM0 (LPC1225) to control all peripherals: 4 motors (8 PWM, 4 encoders, over-current monitoring, PID, etc), 2 UART (one shared with an XBEE socket for wifi communication including firmware upgrade over-the-air), I2C (EEPROM, gyro+Accelerometer with MPU6050, … Continue reading

PWM on LPC1225

Lately I am working on a small project: a table-top 4WD platform. For some reasons I decided to use 2 PWM for each motor and each 2 motors to use one 32 bit counter. The problem was to have access to all 4 PWM outputs: MAT0, MAT1, MAT2 and MAT3 not only 3 of them. … Continue reading

Adding PID

Adding PID

I am testing now adding PID to the servo controller code used for tracking. I am using a very simple PID controller to avoid impact on tracking speed and so far does not seems to affect it much. The servos used are classic PWM servos: HS-5645MG, servo pulses are triggered every 10 ms and the … Continue reading

CTS client

CTS client

I posted a short video that shows how to connect to a CTS board and tune the color class used for tracking using the CTS Windows based client. This version also have servo control and can command the servos through CTS board.

Tracking and streaming

Tracking and streaming

Some people were asking if can do streaming and tracking in real-time and I spent some time on this. Ok, now the new CTS v0.7 boards can do streaming, tracking a color and control Pan and Tilt Servo in real-time to up to 30 FPS in QQVGA mode, of course there is a catch: is … Continue reading