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| author | Dmitry V. Sokolov <ssloy@users.noreply.github.com> | 2020-02-19 18:09:06 +0300 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2020-02-19 18:09:06 +0300 |
| commit | 1fea37d22cf940a8c8fc13e31fa0f5ca9b718e4c (patch) | |
| tree | e193b2917f6a19fe1dead5267e695b7462a1e5fa | |
| parent | 24d0a36df2da7c67be78a125e98b966c4b527b8a (diff) | |
Update README.md
| -rw-r--r-- | README.md | 6 |
1 files changed, 5 insertions, 1 deletions
@@ -92,7 +92,11 @@ If you fail to assemble the proximity sensor, or simply dislike it, there are pl * Or a basic binary proximity sensor based on a LM393 differential comparator: <br/> <img src="https://raw.githubusercontent.com/ssloy/penny/master/doc/lm393.jpg" width="320"/> # Firmware explained -Penny can be programmed via arduino environment, but I find it quite obscure for such simple microcontrollers as ATMega8. Let us split the firmware comments into two parts: how to get the PWM working and how Penny plannifies her movements. +Penny can be programmed via arduino environment, but I find it quite obscure for such simple microcontrollers as ATMega8. Let us split the firmware comments into four parts: +* [how to get the PWM working](https://github.com/ssloy/penny#pwm-generation) +* [how Penny moves legs](https://github.com/ssloy/penny#movement-planner) +* [gait sequences](https://github.com/ssloy/penny#gait-sequences) +* [obstacle avoidance strategy](https://github.com/ssloy/penny#obstacle-detection) ## PWM generation The servos take a 50 Hz PWM signal; 1 ms minimum pulse width (0 deg), 2 ms maximum pulse width (90 deg). Penny has three servos, two of them are attached to a 16 bit timer (timer1), and the third one to a 8 bit timer (timer2). If I am not mistaken, arduino's Servo.h controls servomotors via software PWM, and I dislike that, therefore both timers are ticking in fast PWM mode. |