| CT Feedback | |
| ID | 26 |
|---|---|
| Category | Robotics |
| Sublayer width | 14 |
The CT Feedback is an extended version of CT Mini with 3 output feedback slots. CT Feedback supports any kind of motor.
The current speed of the motor is reported through OUT1. The reported speed is a percentage of the maximum speed of the motor, where 0 means no movement and 1 means the motor is moving at its maximum speed.
The force or torque being applied by the motor is reported in a similar manner through OUT2. It is a value between 0 and 1 where 1 is the maximum force or torque attainable by the motor.
The error feedback (OUT3) outputs exactly 1 when an "error" is detected. Errors are due to external forces that prevent the motor from moving or causes the motor to move in the wrong direction. Note that this signal can be very noisy when the motor is stuck. It is a constant 1 if the motor is moving in the wrong direction.
IN0: PowerIN1: Speed control (optional, default = 1)IN2: Reverse (optional, default = 0)IN3: Speed/force trade-off control (optional, default = as defined by slider)OUT0: Motor interface, blue cableOUT1: Speed feedback (optional)OUT2: Force/torque feedback (optional)OUT3: Error feedback (optional)