RF controlled mobil robots axis movement problem

[rnome]

hi everybody

i have great problem about a rf controlled mobile robots' axis movement. i m using a anolog joystic for sensetive control and robot have two dc motors that it ll move as a tank. for each axis (x-y) movement i must use different pwm values and in this case i need to control 242 different pwm values.



i dont know how to control this pwms effectively


i ll use pic16f877 at 4mhz crystal
_________________
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[Neutone]

I would solve this with a formula. I would interpret the movement as y axis being forward/reverse and the x axis as turn left/right.

signed int8 y_Movement
signed int8 x_Movement
signed int16 M1
signed int16 M2

y_Movement = y_Joystick+128
x_Movement = x_Joystick+128

M1=y_Movement
M2=y_Movement

if x_Movement>0
{ M1=M1-x_Movement
}
else
{ M2=M2+x_Movement
}

Then scale up to 242

M1=242*M1/128
M2=242*M2/128

[rnome]

thanks neutone for your effort

i solved this problem with a less sensetive way before nearly madness:)

void cmp(int x, int y)
{
int pwm_x,pwm_y;
if(y>=150){ //forward
pwm_y=(y-125)*2;
motorsur_ileri();
if(x>=150) //forward and right
pwm_x=pwm_y/2;
if(x<=100){ //iforward and left
pwm_x=pwm_y;
pwm_y=pwm_y/2;
}
if(x<150>100) //only forward
pwm_x=pwm_y;
}

if(y>100&&y<150>=150){ //only right
pwm_y=100;
pwm_x=0;
}
if(x<=100){ //only left
pwm_y=0;
pwm_x=100;
}
if(x<150>100){ //stop
pwm_y=0;
pwm_x=0;
}
}

if(y<100>=150) //reverse and right
pwm_x=pwm_y/2;
if(x<150>100) //only reverse
pwm_x=pwm_y;
if(x<=100){ //reverse and left
pwm_x=pwm_y;
pwm_y=pwm_y/2;
}
}
set_pwm1_duty(pwm_y);
set_pwm2_duty(pwm_x);
}
_________________
live fast, never rest and do your best