Le Friday 17 April 2015, William a écrit :
Thanks for your answer.
> I think what you want to do is possible, but really depends largely
> on how fast you expect it to be. The PRUs have access to many pins on
> the board, a few of which can be accessed in a single cycle, if
> memory serves me correctly. Less than 32 total between both PRU's I
> think.
>
> For those who know much more than I on this subject to answer, I
> think you will have to provide a bit more information. At least how
> fast you expect your setup to be.
Servos are driven with a 500µs-2500µs pulse width, every 20ms; the
pulse width gives the servo position (1500µs for neutral).
For the sync. variation, I don't know exactly what speed I use. I may
send a new position to all legs (18 servos) every 0.1s (I think I'm
limited by the python side, as I have to recompute all positions).
If we use 1000 intermediate points (which is huge), it will need a
refresh of pulses widths every 100µs, which allows thousands PRUs
intructions!
> With that said however, I do not think the rPI can even come close to
> how fast this could be done on the BBB . . .
Yes, the RPi solution way was to keep the Veyron servo controller,
which does the servo sync.
BTW, this board uses a stm32F103; don't know how fast it is compared
to PRUs...
--
Frédéric
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