Jitter elimination at optical control of servomotors

Abstract

The article describes the application of microcontroller PIC18F25K22 to servomechanism electronics built – in the model of car. Model is controlled optically, in the infrared part of the spectrum. Used microcontroller is optimal for this application – it has timers with capture facilities, sufficient number of PWMs, powerfull instruction set. The main task for microcontroller is to process incoming PWM signals S1, S2 (having jitter) into output PWM signals P1, P2 (jitter free). The P1 controls the angle of wheels, and the P2 handles the speed. Values of incoming signals are continuously summarized and rounded. There was choiced method of hysterezis in sophisticated algorithm for setting output PWM signals P1, P2 using tables of duties.