![]() * Miguel Sanchez 2106 This program uses an Arduino MKR1000 for a closed-loop control of a 360servo. You can see below a bit of the process of adding the encoder to the servo. Some changes were needed for the continuous rotation to accept the magnetic encoder, so I had to design and print a part to hold the magnet attached to the output shaft. There is a really small circuit that can be done at a small SOIC-8 adapter board to be inserted inside the guts of the servo. Please remember to insert in the source code two important values: your wifi network name (SSID) and password. ![]() The device IP address is reported to the serial terminal at the beginning so you can learn what IP is the board going to use. That means you can learn and test how it works connected to your computer USB and later you can move the module to another location and be accessed wirelessly.įor wireless communication I am using UDP protocol and port 23. I have a set of commands that are available both to USB communication or to UDP communication via WiFi. Just remember these servos are not going to win any speed race.īut to make the project a bit more interesting for many of us, the use of the MKR1000 allows us to allow the control to happen wirelessly too. ![]() That means a single revolution now consists of 4096 steps or discrete angles, but any desired value of turns or steps can be achieved. This projects adds an inexpensive magnetic encoder that fits inside the servo to add the position sensing. Continuous rotation servos can do more than half revolution but we cannot control position. RC servos are easy and cheap too, but they are limited to half revolution. Many position control use steppers because they are easy to deal with and are cheap.
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