Julien: Thank you for the advice. I'm just wondering...where can I find the original source and header files for the epic2 program so that I can modify these? All I have are the .hex files.
With thanks, Colleen On Fri, Mar 6, 2009 at 8:29 AM, Julien Hubert <julien.hub...@epfl.ch> wrote: > Hi Colleen, > > I can't help you much with the third motor but I can tell you about epic2. > Epic2 uses BTCom as an interface between the e-puck and Matlab. So, if you > add a third motor, you will need to modify BTCom to add a command to > activate that motor. > > Once you modified BTCom, ePic2 has a function to send custom commands to > the e-puck without having to reprogram everything. If for instance the > command to activate your new motor is "A, <speed of the motor>" then you can > activate the motor with those commands: > 1) ePic = set(ePic, 'custom', 'A, <speed of the motor>'); > 2) ePic = activate(ePic, 'custom', 2); > 3) ePic = update(ePic); > 4) returned_value = get(ePic, 'custom'); % If your command returns > something > > This way is probably the easiest but you have to create the string with the > command yourself. Otherwise you can reprogram ePic completely by modifying > the commands set, update, get and activate. You would also need to add the > necessary variables to ePicKernel.m. It's possible that the syntax is not > right as I programmed that long time ago and I'm not using ePic those days. > > Here is now, from the top of my head, how I would add a third motor. I'm > not an engineer but I have been involved in the design of a few turrets > before. You will need to create a new turret to replace the top one. As the > number of lines are all taken on the dsPic of the e-puck, you will need to > sacrifice a sensor or a receiver and put the lines to command your motor > instead. I assume the motor line is analog so you might need to sacrifice > the accelerometer (the least used one). If you need everything, you can also > add another pic to your new turret and command the motor from the dsPic > through I2C. > > Hope everything will be fine with your motor. > > Cheers, > Julien > > > On 5 mars 09, at 20:34, Colleen Fryer wrote: > > All: >> >> I am trying to add a third stepper motor to the e-puck. I think that I >> will need to remove the current ejumperprod board and create a new one with >> my control of the motor. Is this a correct assumption? I'm using the epic2 >> Matlab software to communicate with the epuck...how can I modify the >> software to manipulate the third motor? Any hints or recommendations? >> >> I could really use help. >> >> Thanks, >> Colleen >> <ATT00001.txt> >> > >
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