Synchronous Servos
Tracking control with ServoMagic
Published in issue 348, November 2005
Model servos are frequently used in robotics projects because of their unique properties. However, a significant disadvantage is that servos often change position far too quickly. In addition, each servo moves at a slightly different speed, which results in erratic looking movements. In these situations it would be nice if all connected servos would move simultaneously and with a user-defined speed to the next position. This synchronous servo control (called ServoMagic) is the solution for this problem.
Resistors:
R1 = 100Ω
R2 = 330Ω
R3 = 10kΩ
R4, R10-R19 = 1kΩ
R5 = 100 kΩ
R6, R7 = 4kΩ7
R8, R21 = 47kΩ
R9 = 470Ω
R20 = 1Ω 1W
Capacitors:
C1 = 4μF7 10V radial
C2, C3 = 27pF
C4 = 220nF
C5 = 10μF 16V radial
C6, C7, C9 = 100μF 25V radial
C8, C10, C11 = 100nF
Semiconductors:
D1 = 1N4148
D2 = LED, 3mm, green
D3 = 1N5401
IC1 = IR receiver (see text)
IC2 = AT90S2313-10PC, programmed for RS232, order code 020031-41)
IC3 = 78S05
IC4 = 78L05
T1,T2 = BC547B
Miscellaneous:
JP1 = jumper
K1 = 9-way sub-D socket (female), angled pins, PCB mount
K2 = 10-way pinheader
K3 = connection for IR receiver
K4-K13 = 3-way pinheader
S1,S2 = pushbutton, 1 make contact
X1 = 4MHz quartz crystal
Heatsink for IC3, e.g., FK237, ICK35
2 wire links
RS232 cable, straight-through (all wires 1:1 connected)
PCB, no. 020031-1 from The PCBShop
project software, code 020031-11
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Click below to download a PDF copy of this article from Elektor magazine. Please note. In view of the complexity of international markets, Elektor cannot guarantee the availability of components for this project.
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