![]() ![]() The mechanical system filters them out because it doesn’t have time to jerk. ![]() Small perturbations in the sensor system just get swamped by the good data around them. Actually since it’s integrated, and the time base is so fast, the P term is less than 1, but the point is that it tracks so close that in a slower system, it would oscillate. We can run the P term in the PID controller up and not have oscillations. ![]() The ultra fast response rate provided by the FPGA has several benefits: The number of interfaces is the second highest byte in the first memory address plus 1, and the following addresses contain run length encoded type data expressing the size in bits of each memory mapped location. They can be read via the 'r' oplet, and a standard set is returned in the status reply The DexRun.c firmware communicates with the gateware by setting memory mapped registers through the 'w' command oplet. Another is the FAT partition which contains UBOOT, ZIMAGE, DTS (Device Tree) and the Gateware. The SD card image has multiple partitions, one is the actual hard drive image when running in the robot. XC7Z010-1CLG400C FPGA from the image of the micro SD card on the microzed board. ![]() It allows feedback from encoder to motor in as little as 200 nanoseconds.ĭexters gateware configures the Xilinx Inc. "Gateware" is what we call the FPGA programming that makes Dexter stunningly responsive. ![]()
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