Article

Synchronous Servos

Tracking control with ServoMagic

Model servos are frequently used in robotics projects because of their unique properties. However, a significant disadvantage is that servos often change position far too quickly. In addition, each servo moves at a slightly different speed, which results in erratic looking movements. In these situations it would be nice if all connected servos would move simultaneously and with a user-defined speed to the next position. This synchronous servo control (called ServoMagic) is the solution for this problem.

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Materials

020031-PCB.pdf

020031-11.zip

Gerber file

CAM/CAD data for the PCB referred to in this article is available as a Gerber file. Elektor GREEN and GOLD members can exclusively download these files for free as part of their membership. Gerber files allow a PCB to be produced on an appropriate device available locally, or through an online PCB manufacturing service.

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PCB

Download Gerber file: 020031-1.zip

Component list

Resistors:
R1 = 100?
R2 = 330?
R3 = 10k?
R4, R10-R19 = 1k?
R5 = 100 k?
R6, R7 = 4k?7
R8, R21 = 47k?
R9 = 470?
R20 = 1? 1W
Capacitors:
C1 = 4?F7 10V radial
C2, C3 = 27pF
C4 = 220nF
C5 = 10?F 16V radial
C6, C7, C9 = 100?F 25V radial
C8, C10, C11 = 100nF
Semiconductors:
D1 = 1N4148
D2 = LED, 3mm, green
D3 = 1N5401
IC1 = IR receiver (see text)
IC2 = AT90S2313-10PC, programmed for RS232, order code 020031-41)
IC3 = 78S05
IC4 = 78L05
T1,T2 = BC547B
Miscellaneous:
JP1 = jumper
K1 = 9-way sub-D socket (female), angled pins, PCB mount
K2 = 10-way pinheader
K3 = connection for IR receiver
K4-K13 = 3-way pinheader
S1,S2 = pushbutton, 1 make contact
X1 = 4MHz quartz crystal
Heatsink for IC3, e.g., FK237, ICK35
2 wire links
RS232 cable, straight-through (all wires 1:1 connected)
PCB, no. 020031-1 from The PCBShop
project software, code 020031-11