As you may have noticed. It has been a while since my last post. I have thought about starting up again many times sine then. Last week I actually did it.

In my first post I mentioned that I am a terrible blogger. Last year I started a new job which turned out to be quite challenging. That in combination with being a father and a few other projects that take precedence means I have very little time to actually spent on the controller.

In my previous post I ended with me reading up on interrupts and timers. After doing said reading I came to the same conclusion I did a while ago. I’m severly lacking knowledge of actually program the msp430 in assembly.

After reading posts on Pololu and l’Hexapod I decided the control theory of l’Hexapod seems like a better fit. He seems to have a greater control over the servo timing and pulse train. I’m assuming this control comes at a price, a more complex implementation.

There are several types of servos that can be used as actuators for a mobile robot. Analog servos being the most common and cheapest. Next are digital servos. They are more expensive, work the same way as analog servos but have several advantages with regards to torque and reaction time. The most expensive, but probably the best for robot applications are the Dynamixel smart servo motors. They are also by far the most expensive and hardly realistic for a hobby robot builder.

Several times before I started a blog and in each of those instances I stopped after only a few posts. Whenever my interests changed or I got too busy in my personal live.