From plskeggs at noeticdesign.com  Wed May  3 22:24:49 2006
From: plskeggs at noeticdesign.com (Pete Skeggs)
Date: Wed May  3 22:22:28 2006
Subject: [WheelWatcher] Firmware Update Coming
In-Reply-To: <5DE3FFFAE647164CA712E790A2E8D01D0720AA@ex3.mail.win.hw.ac.uk>
References: <5DE3FFFAE647164CA712E790A2E8D01D0720AA@ex3.mail.win.hw.ac.uk>
Message-ID: <44599021.7010002@noeticdesign.com>

News from the firmware front:

We're in the middle of a big firmware upgrade for the WheelCommander.  
New features and improvements include:

Interrupt Output Line
==============
We've added a programmable interrupt output signal, triggered by
    - programmable thresholds on analog inputs (low, high, inside or 
outside of range)
    - edge or level triggered digital inputs, either or both edges or levels
    - motion completion
This removes the need of the host processor to constantly poll sensors 
to detect objects or events, and is especially useful over wireless links.

Differential Steering
=============
We've squashed some minor bugs and made improvements to the differential 
steering PI loops.

Accuracy
=======
We're widening the wheel circumference and wheel base constants to 16 
bits, for increased accuracy over long distances.

Encoder Compatibility
===============
Rather than fixing the resolution to 128 ticks per revolution (provided 
by our WheelWatcher encoders), we've made encoder resolution 
programmable.  This is not only to broaden the appeal of the 
WheelCommander, but also to make way for the forthcoming Unicoder high 
resolution encoder product line.

Encoder Signal Type
==============
Instead of just using CLK / DIR inputs for each encoder (as provided by 
the WheelWatcher encoders), we've also added standard quadrature 
(ChA/ChB) signalling.


We'll be announcing the date of the first beta version soon.

Thank you for your interest in the WheelCommander differential drive 
controller.

Sincerely,
Pete Skeggs
Nubotics Tech Support