Hey everyone.

Recently I obtained a very sophisticated piece of equipment. A linear rotary
actuator with an optical quadrature decoder for feedback. In other words: a
harddrive arm. I thought of making a foot control pedal with it, to be built
into a MIDI controller pedal with preset buttons. The tilt is just about
right, and the optical encoder has amazing resolution. The idea is to have
the pedal assume its last stored position for each preset, and to provide
mechanical resistance when moved by the user.

I guess I'll hook up the "voice coil" to a PWM-controlled H-bridge. The
encoder has TTL outputs. So I'm not worried about hardware. But how would I
go about the software, to have the maximum counter torque, but also a
position hold, when the pedal is left alone? Anybody know any links to this
kind of motion control? I'm using a PIC16F874-04

Thanks,
Joris.



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"Bass is the basis of all that is music"

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