Change Release Notes
This release is minor and the update focus is on the EZ-Script i2c read/write commands. The i2c is normally a confusing protocol due to the addressing issues. I have created the i2c commands in EZ-Script to figure out all addressing conversion for you
Click here to read about i2c: http://www.ez-robot.com/Community/Forum/posts.aspx?threadId=322
Click here to locate the i2c port on your EZ-B: http://www.ez-robot.com/Tutorials/Hardware.aspx
For example, the confusion behind the i2c addressing lies in shifting the 7 bit address into an 8 bit address, and setting the LSB to 0 or 1 depending on the direction of the data. Does that sound confusing? Good, because you do not need to worry about any of that with ARC!
If you communicating with an i2c device (for example an Arduino or Compass, etc) - you may be given one of many address types....
Quote:
Device Address: 0xa0or
Device Address: 0x50
or
Device Read Address: 0x50 Device Write Address: 0x51
The above list of addresses are all the same - surprisingly. In any other environment, you would need to understand how they are the same to know how to use them. You would need to convert between 7 bit and 8 bit of 0xa0 to 0x50. You would then also need to convert the 0x50 to 0x51. Wow, so confusing! Well, ARC makes it easy.
In fact, you can use ANY i2c device address - without needing to format or convert the bytes. ARC will figure it out for you You simply connect the device to your i2c port, read the manual to find the i2c address, and enter it in ARC's EZ-Script i2cWrite() or i2cRead() commands.
- Release() fix
- i2cWrite() and i2cRead() do not need device address conversion
- Change tracking color by ControlCommand(). See below example
Tracking Color Change Command
ControlCommand("Camera", CameraColorTracking, "Red" )
or
ControlCommand("Camera", CameraColorTrackingEnable, "Blue" )
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DAVE did you get my reply about using WC-132 from NUBOTICS is has I2C PORT and has motor drivers and optical encoders inputs
nubotics wc-132 board looks like a great add-on for EZB
That board looks ideal for a future project I have in mind, and price isn't too bad either $89(USD).
i ordered 2 for some of my projects,I2C doesnt look to hard with the new EZB update
Robotmaker, no I didn't see your post on this board. sorry, I've been busy since the holidays and haven't had much time to spend on the forum.
Thanks for going through the trouble and time of pointing me to this. It looks like an ideal solution and easy addition to EZB. I wish I had seen this months ago. It would have saved me tons of work. Maybe I'll still get one.
thanks again!
@Dave, all that board will do is return the ticks to the EZ-B for the encoders. It will be the same amount of effort as you have done with the ADC Variable Resistor. The tick count won't provide you with positioning either. Meaning, you only know a rough estimate of how many rotations the motor has made - unless you know the starting position, it's impossible to know where the moving component is. Even if you do know the starting position, it's not an accurate way of moving to a specific position.
The Variable Resistor solution that you use is how Servos work. And the reason Servos use a Variable Resistor, instead of an encoder, is to have a great dependable method of addressing custom positioning.
Encoders are only beneficial for helping a two motor'd mechanism to drive very straight.
DJ i found out its the other way ,quadratue encoders are used for odometry and navigation it does need other sensors for good navigation.
Quadrature encoder has 2 channels A and B,servo feedback only has one and resolution is very low compare to let says 120 cpr or even 1024 cpr
Here is info on odometry optical encoders Odometry is the use of data from moving sensors to estimate change in position over time. Odometry is used by some robots, whether they be legged or wheeled, to estimate (not determine) their position relative to a starting location. This method is sensitive to errors due to the integration of velocity measurements over time to give position estimates. Rapid and accurate data collection, equipment calibration, and processing are required in most cases for odometry to be used effectively.
Single encoders are not that bad,but still have much higher resolution then a feedback pot and more linear Single optical encoders are in IROBOT roomba models for navigation Single magnetic ENCODERS using hall effect sensors and magnet are in NEATO models
SOME other info on using servo pots ,can only get 180 deg or so,since the pot has a dead stop thats why when you need a servo to set up as continuous servo ,the pot is removed and two 2.5k or pot is adjusted to center OPTICAL encoders have a pulse out (pwm) magnetic encoders have 0-5 volts out mostly WAY A QUADRATURE encoder is that one is set at 90 deg to the other IR sensor
Thanks to both DJ and Robotmaker for the education.
I was and am exploring other methods of sending back positioning info to EZ-B other than large Variable Resistors (pots) I've found. I really don't have any extra room up in the head of B9. I'm animating the radar unit under the bubble so it will rotate back and forth by script or hopefully with the tracking camera when someone walks by. With all the gears, motors, wires and switches I'm running out of room. However just tonight I think I've worked out a way for everything to fit.
My first preference would be the ADC Variable Resistor at this stage with the build of my B9 robot and my experience. I've already used them twice in other parts of the robot for custom rotation positioning and have scripts already figured out and working. This method works great for me and seems to work with how EZ-B controls my animation. The only things I have worried about was going past the stop point of the pot and the pot wearing out over time and returning drifting voltage readings. On the first worry; I will not rotating any part of my B9 more than 180. Also I have installed multi turn pots that will give me 10 rotations. I've also installed stop plates and limit switches just in case disaster happens. In the second worry; I'm sure the pots will drift over time and if I'm alive to see that then they can always be adjusted in ARC, cleaned, replaced or upgraded.
Someday I may have more knowledge and get back in there and use more sophisticated sensors but for now I'll stay with the tried and true.
Again, thanks for the help and concern. I can use all I can get! Keep it coming.