====== Motorcontrollers ======
===== Configuration on the Armadillo Scout =====
<note important>This is the configuration that we wish to implement</note>
FIXME Update this to the rtq commands and values
  Closed Loop Speed mode
  P-gain:
  I-Gain:
  D-gain:
  max current 150A
==== Closed loop mode not working ====
We are trying to find a solution.

The first thing we are going to test is this http://www.roboteq.com/online-forum/controller-configuration-operation/blfb-does-nothing#29527153


====== Motorcontrollers ======
The motorcontrollers are two [[http://www.roboteq.com/files_n_images/files/datasheets/hbl1650_datasheet.pdf|HBL-1650]] Brushless DC motor controllers from [[http://www.roboteq.com/brushless-dc-motor-controllers/hbl1650-150a-brushless-dc-motor-controller-with-encoder-hall-inputs|RoboTeQ]].

Here is an overview of the technology RoboteQ is using: [[robots:armadillo:hardware:roboteq:roboteq|RoboteQ Technology]]

  * {{:robots:armadillo:hardware:hbl1650_datasheet.pdf|Datasheet}}
  * {{:robots:armadillo:hardware:nxtgen_controllers_userman.pdf|Usermanual}}
  * {{:robots:armadillo:hardware:roborunplussetup-v12-061112.zip|Controlsoftware}}

^           Table with alignment VBL1650           ^^^
^  **Power Stage**  ^^^
|Operating Voltage|  10V to 50V DC  ||
|Number of Channels|  1  ||
|Max Current|  1min  |  150A  |
|:::	|  3 min  |  120A  |
|:::	|  1h  |  100A  |
|Surge Current|  >250A  ||
|ON Resistance|  3 mΩ  ||
|Current Limiting|By automatic power output reduction above user preset level, per channel.||
|Synchronous Rectification|Yes - Allows regenerative braking.||
|Temperature protection |Automated current limit reduction starting at 70o C (175o F) heat sink temperature.||
|Voltage protection|Output shut off below 9V and above 50V - user adjustable||
|Short Circuit protection|  Yes  ||
|Power Wiring |  AWG8 Cables  ||
|  **Command**  |||
|R/C Inputs|  1.0ms - 1.5ms center - 2ms, Adjustable  ||
|Serial Interface|  RS232. 115200 bauds  ||
|Analog Interface|  1 inputs (0V - 2.5V center - 5V)  ||
|Input Corrections|Programmable deadband. 6 Exponent & Logarithmic command curves.||
|  **Input/Outputs**  |||
|Optical Encoder Interface|  Not available  ||
|Hall Sensor Inputs|3 phase inputs for motor switching, speed capture and odometry.||
|Analog Inputs| Up to 4 inputs, 10-bit resolution. ||
|Digital Outputs|  2 outputs, 24V 1A max  ||
|Digital Inputs| Up to 6 general purpose inputs.||
|Pulse Inputs| Up to 5 Pulse Length, Duty Cycle or Frequency inputs.||
|5V Supply Output|  100mA max for Radio or other devices.  ||
^  Operating Modes  ^^^
|Open Loop Speed| Forward & Reverse Speed Control. Separate or Mixed. ||
|Closed Loop Speed| Use Hall Sensors, analog or pulse speed feedback. PID. ||
|Position Mode | Use Hall Sensors, analog or pulse position feedback. PID. ||
^  MicroBasic Scritping  ^^^
|Max Program Size| ~1500 lines of Basic-language code, 1000 user variables. ||
|Execution Speed| Higher than 50,000 lines per sec. ||
^  Physical  ^^^
|Operating Temperature |  -40 to +85oC heat sink temperature  ||
|Enclosure |  Aluminum extrusion  ||
|Cooling |  Heatsink  ||
|Controller size | 5.5" (140mm) wide x 1.6" (40mm) tall x 9" (228mm) long including mounting brackets. ||
|Cables |  10" (25cm) RC cable to Radio  ||
|Weight |  3.3lbs (1.5kg)  ||

===== Software =====

==== Problems with Windows 7 64-bit ====
<note important>Try the program before runnung this fix!!!</note>
[[http://www.roboteq.com/tech-support/windows-7-roborun-install-fix]]

The Strip.ocx file may fail to properly register when installing Roborun on a Windows 7 PC, typically on 64-bit versions of the OS.

To correct the problem follow these steps:

  - Retrieve the Strip.ocx file from (this link) FIXME . Unzip and save it in the install directory of Robotec - C:\Program Files (x86)\Roboteq\Roborun\strip.ocx
  - Right click on the command prompt icon in the start menu and select "Run as Administrator". The command prompt is normally located in All Programs > Accessories. You will be prompted to approve the elevation.
  - Once the command prompt open, type the following: %systemroot%\System32\regsvr32.exe "C:\Program Files (x86)\Roboteq\Roborun\strip.ocx"
  - Launch Roborun normally.