Use PRU/ADC driver to capture encoder ticks

[pgmmpk]

@rowland,

Do not merge this, but please look at https://github.com/pgmmpk/beaglebone_pru_adc - it provides a simpler (better?) way of capturing ADC inputs and encoders.

As to my clone of quickbot_bbb, its still very much work-in-progress. ENCVAL does work and seem to return reasonable values. ENCVEL is completely untested yet, IR readings not tested either.

[rowland]

You're looking for a different Rowland.

On Mar 12, 2014, at 17:11, Mike Kroutikov [email protected] wrote:

@rowland,

Do not merge this, but please look at https://github.com/pgmmpk/beaglebone_pru_adc - it provides a simpler (better?) way of capturing ADC inputs and encoders.

As to my clone of quickbot_bbb, its still very much work-in-progress. ENCVAL does work and seem to return reasonable values. ENCVEL is completely untested yet, IR readings not tested either.

You can merge this Pull Request by running

git pull https://github.com/pgmmpk/quickbot_bbb master
Or view, comment on, or merge it at:

#1

Commit Summary

switched to using PRU_ADC
made it work
use socket timeout as a delay mechanism to avoid busy loop
File Changes

M QuickBot.py (415)
M QuickBotRun.py (4)
A config.py (22)
Patch Links:

https://github.com/o-botics/quickbot_bbb/pull/1.patch
https://github.com/o-botics/quickbot_bbb/pull/1.diff
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[rowoflo]

@pgmmpk,

Yes this is great stuff! JP and I have been wanting to use the PRUs but have not had the time to investigate it further. Let me know how it works out for you.