Darathian
Resolved by Dunning-Kruger!
Since I know some of you have used the Sabertooth and Kangaroo I figured I would ask opinions.
I have decided on the Parralax Arlo base for my next robot chassis. I will use the caster's from parralax.
I will most likely be using the Sabertooth and kangaroo combination for motor controller/PID but I am not decided on this and open to suggestions.
I also find myself in a heated mental debate between the wheel/motor combination from parralax or the Zagros Rex motors and wheels combined with the Sabertooth/Kangaroo.
Item 1:
One of the key items for me is how well the encoders between the two different motor/wheel sets works with the Sabertooth and kangaroo.
Item 2:
The other item floating in my mind is the ground clearance between the two motor/wheel sets. It seems at least to me that the Zagros wheels would provide more ground clearing but since the base plate of the chassis provides stability to the base platform I am not really sure if using the Zagros motors are feasible.
Item 3:
Since I am going to build a body, arms and head on top of the base the torque and weight carrying ability is important.
Item 4:
I need to be able to control both the position and speed of the motors at the same time. For example example I should be able to have to robot move lets say 1 feet at a certain speed.
I know this is kind of an open ended questions but if anyone have used any of these wheel/motor combinations please provide your 2 cents as it relates to the items listed above.
I appreciate any comments or insights you guys can provide.
This is part of my confusion...
If the notch is correct, the top right pin is pin 1. If the dot is correct and the chip were flipped, the top right pin is pin 1. Both ways match the datasheet as far as where pin 1 would be. Its a bit confusing but I can stand to blow up a few of these if I need to. I think they were about 40 cents a piece.
http://www.jameco.com/webapp/wcs/stores/servlet/ProductDisplay?search_type=jamecoall&catalogId=10001&freeText=CD4013BEX&langId=-1&productId=12677&storeId=10001&ddkey=http:StoreCatalogDrillDownView
This is who I purchased them from. Unfortunately it could be from any one of 5 different manufacturers, all of which have slightly different variants of the chip.
I may have just found the answer and the issue with my wiring... dang datasheets...
Yep, just found the issue. I will rewire it tonight and go from there.
Check that. I was right the first time. VCC comes into pin 14. Ground is on pin 7. Still the same issue... but this does answer for me which pin is pin 1.
Anyway, back to work.
The notch and line indicate pin 1 and the dot is where ground goes on this chip. Interesting. will keep working on it.
@David
How many CPRs per encoder ? you mention 65K Pulses are the CPRs 65 / 4 or 65K / 2 ?
Each motor is geared 1:127. Each encoder has 500 counts per rev.
This takes you to about ~65K per rev of the wheel.
Both wheels working in diff mode take you to 131K clicks total. The Kangaroo can handle about 80K total per wheel rev. (40K per wheel)
flip flop takes you to about 64.5K total or 32,250 per encoder.
I am using 2 wheel config. If you had a 4 wheel config, you would be using 2 Kangaroos so I dont think it would matter.
@David
PIN 1 :
If you have at least 3 methods to identify the pin 1:
So the other question what's the blue point over Pin 7 ?
some RCA chips arrive with a Test dot can be blue, yellow or other color (I've only seen those two...)
Thank you. My assumption was correct from the beginning. Thank you for verifying.
David, the notch (usually center) is the top of the IC and pin one is on the left and pin 14 is on the right.
There are lots of manufacturers producing the 4013 and some specs not pin-outs are slightly different. Hope you can get it working, do these chips fail completely after they stop working (after a short time) are they destroyed, or do they work again?
Tony