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01
1.8ms/100ms
Servo 3
This servo was used for rotating the claw. The last two bits from address 0x3600000 were
used for this servo.
DATA(bit30, bit31)
Duty Cycle of PWM generator
00
0.6ms/100ms
01
1.8ms/100ms
Servo 4
This servo was used for opening/closing the claw. The last two bits from address
0x3700000 were used for this servo.
DATA(bit30, bit31)
Duty Cycle of PWM generater
00
0.6ms/100ms
01
1.8ms/100ms
Ultrasonic sensor
The address, 0x3900000 was used for this sensor. Once we write any value to the address,
a sensor controller generates a trigger to the ultrasonic sensor. The controller would wait
for the rising edge of the echo pulse. Once the echo pulse was received, the hardware
would count the length of the pulse. Based on these results, the robot decides the closest
object to it.