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RoboMonRoboMon is my test bed robotics base. I use the 8515 since it has plenty of I/O and SRAM for me to play with. There is a lot of good stuff here: LCD drivers, Quadrature encoder drivers, a general PID filter and motion control algorithms. All the code takes around half the available resources of an 90S8515. There is plenty of room for more advanced stuff or more sensors. RoboMon doesn't actually do anything at the moment. I was aiming for some good position control algorithms to drive an XY table for machining purposes.
RoboMon CPU card with motor driver LM298 to the left, two photocells to the right and the LCD display removed to show the connector. The connectors at the top are, from left to right, power, serial io and ISP (In Circuit Programming)
The base uses a couple of surplus Pittman gearhead (1:5.9) motors with HP HEDS encoders and 500 cpr slotted wheels. Due to limitations on how many interrupt lines I have on the 8515, I implemented a 2x encoder to get 1000 counts/revolution of the wheel. Under light loads the PID algorithm can control the wheel position to within 1 count or 1/5900 of the output shaft revolution. The ZIP file for all the software, targeted to the IAR 1.4 assembler: robomon.zip The software uses AvrX as the foundation plus the following files:
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