Controlling a high-power quanser robotic arm with a hand-made Galileo compatible shield.
PCB project design and simulation were made using proteus https://www.labcenter.com/pcb/
Compile using make
After compilation success, executable qmotion should be at /bin folder
qmotion - quanser motion
USAGE
qmotion [options] input file
DESCRIPTION
qmotion is a quanser robotic arm controller
OPTIONS
-v, --version
Prints qmotion version
-h, --help
Prints this help message
-m VOLTAGE TIME, --move VOLTAGE TIME
Moves the quanser robotic arm using VOLTAGE(-27 to 27) during TIME seconds
-t ANGLE, --target ANGLE
Moves the quanser robotic arm to the target at ANGLE degrees
-d, --decoder
Reads and shows decoder and limit switch status
-r, --reset
Resets decoder register
-p P I D, --pid P I D
Sets Proportional(P), Integrative(I) and Derivative(D) gains, saved at pid.dat file
--no-color
Does not use colors for printing
https://link.springer.com/content/pdf/10.1007/978-1-4302-6838-3_14.pdf
IO0: D7 (encoder bit 7)
IO1: D6 (encoder bit 6)
IO2: D5 (encoder bit 5)
IO3: D4 (encoder bit 4)
IO4: D3 (encoder bit 3)
IO5: D2 (encoder bit 2)
IO6: D1 (encoder bit 1)
IO7: D0 (encoder bit 0)
IO8 : !RST (Reset for 16-bits encoder register)
IO9 : !OE (Enable, activates the tristate buffer from the register)
IO10 : SEL (Selector for 16-bits encoder high or low byte in register)
IO11: PWM (pulse modulation width)
IO12: SD (bridge-drivers shutdown)
IO14: LMT_SWT2 (arm limit-sensor input)
IO15: LMT_SWT1 (arm limit-sensor input)