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If you have steering and speed, send speed to both motors. Add steering to one motor and minus steering to the other. Let motors be ML, MR, steering be D and speed be S. Here is a truth table: S D -D ML MR 0 0 0 0 0 stop 0 1 -1 1 -1 360 right 1 0 1 1 1 ahead 1 1 -1 -2 2 turn right<p>You can turn lef...

Yes, thank you all. I got all I needed to know.

What does the P in PID do?
I have: Out = PE + I*i(E) + D*d(E) where E
is S1 - S2
i is integral function
d is derivative function
What is P?

Servo protocal is:
Cycle is 20 milliseconds.
At cycle end:
1 millisecond is full counterclockwise (-128)
1.5 millisecond is center (0)
2 milliseconds is full clockwise (127)
1. read number
2. Produce pulse from number
3. produce 20 milliseconds space
4. go to 1.
This is how I do it.

I don't have a stepper motor controller, but I do have a servo motor controller.
It is SM node on my web page. It is bit serial in and servo out.
Be glad to send you the code if you don't need the hardware. Just ask.<p>
http://www.halbrain.com

The contestants of the 1 million dollar road race all failed to finish. Maybe that will finish conventional robotics.

Al,
The 12F629 is the companion chip.
The 12F675 has ADC. The 12F629 does not. They both use the same book.

We have had Out = Out + In That can be extended. Out = Out + In1 f In2 ;where f is any arithmetic operator.<p>MP = MP + I1 + I2 MM = MP + I1 - I2 MO = MO + MAX(I1,I2) MA = MA + MIN(I1,I2)<p>Interesting to note that MP + MM = 0 and MO + MA = MP<p>General code, with Out, In and Ref is:<p>BEGIN Marith ...

You are following a long history. In the 1700's it was all gears and levers. The music box is the remainder of the doll mechanism of that time. There are principles involved and the physics must be obeyed, but you can start anywhere. To move anything you need a motor controller, a motor and a gearbo...

It turns out that the uncount is a differentiator with memory.
Out = In - OldIn ; is DNode internals
Out = Out - OldIn ; is Minus (uncount)
Since these are cheap TNodes, they will be on the node list.

Thanks confused B. Turns out this is a counter. Count = Count + countbydifference There is also an uncount which is harder to do.<p>Connect count and uncount in series and you should get countbydifference back. This is getting very close to integration and differentiation which I alread have. So the...

Thanks for the comment. The code for this is a PIC 12F629. It has been simulated. I have not cut a chip yet. The input/ output of these nodes is 8 bit binary bit serial. The reason I cannot use an INode here (O = i(I)) is because of the speed. And I do not want to use the difference of the inputs, s...

I have found a need to update data outside as well as inside. I did that with X = X + k where X is modified inside the node and emitted outside. Myfood = Myfood + food hunger = Myfood GT hungerlimit Since data comes in as a solid stream I am using only data that is different from old data. Plus IM =...

I buy them already coupled. There are many ways to align a pair of shafts. In small machines a rubber tube of the right size will do. <p>Most small motors come with a small gear that you can press on the shaft. Then you build a structure to hold the other gears. That is why I let the factory do it.

Think of it this way. For a DC motor to run at full speed you feed it DC.
If you want it to run half speed, feed it half DC and half off. And so on.
The frequency comes from the repetition.
Motor
Read Input
Write pulse related to input
GOTO Motor