RC-Servo-Speed regulation

[-Eyeman-]

I have build a Hexabot, but the legs are too fast. :P
How can I regulate the speed of the RC-Servo´s?

: RC
0 MAX B MIN 5 OVER U< IF 1A + THEN E06 +
SWAP
0 MAX SCALE# @ MIN HISTOP @ LOSTOP @ - SCALE# @ */ LOSTOP @ +
SWAP !
E20 @ DROP
PWMCTL# E20 !
E00 @ DROP
PWMCTL# E00 !
;

[Dave]

There is some code available from the IsoPod download page at http://www.newmicros.com/store/product_details/download.html used in the Lynx 5 Robotic arm that might prove useful. The arm uses RC servos, and was performing velocity moves using this code :
http://www.newmicros.com/isopod/appnotes/RCVelMove.txt

[RMDumse]

The way I did my walker was to run about as fast as possilbe. RC servos are positional, rather than velocity based. So if you want a slower movement, essentially you have to stream a series of incremental positional changes over time. With smaller moves, the proportional response of the servos will (typcially) be at a slower velocity.

Think in terms of making a movie of partial movements. Each frame the motion moves a little. You send out the frames and the servos smooth the motion between the frames.

If you look at my L5 Arm code (think it is on the download page) you can see an example where I programmed velocity (and acceleration) controlled moves with the servos.

[RMDumse]

Oh! for another idea. If you want to slow down the whole bug, as opposed to just the motion of the legs, you could add a delay in the states when all six legs are on the ground. By a delay, I mean another state or extending the existing state, not a PCC loop.

[-Eyeman-]

Thank´s!

The code of the L5 Arm realy helps!