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More than 2 HiTechnic Servo Controllers? 
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Joined: Wed Jan 24, 2007 10:42 am
Posts: 613
Post More than 2 HiTechnic Servo Controllers?
Hey Everyone,

Recently brought to our attention is a rule change for the FTC Competition with addition of 'Quarter Scale' servos:
A maximum of twelve (12) servos are allowed, provided that they are compatible with and controlled by TETRIX (HiTechnic) or MATRIX controllers. For TETRIX (HiTechnic) Servo Controllers:

    * Any combination ofthe following servos is allowed per servo controller: 180 Degree HiTEC HS-475HB and HS-485HB, Continuous Rotation W39177 and HiTEC HSR-1425CR, hobby servos "standard" size and smaller (i.e. standard, mini, micro) with rated stall current of 800mA or less.
    *Quarter-scale HiTEC HS-755HB and HiTEC 785HB servos may be used. If HS-755HB or HS-785HB servos are used,the number of allowed servos per TETRIX (HiTechnic) Servo Controller is limited as follows:
    - No more than two (2) quarter-scale servos may be connected to a single Servo Controller.
    - If two (2) quarter-scale servos are attached a controller, only one (1) additional servo of the type listed in <R08>h(i) may be used.
    - If only one quarter-scale servo is attached a controller, no more than four (4) additional servos of the type listed in <R08>h(i) may be used.

In ROBOTC, we can support more than two (2) servo controllers but the Motors and Sensor Setup 'Servo' tab can not show more than 16 ports. Luckily, we have a somewhat manual work around for this.

Here's the solution for ROBOTC 3.x:
1. Configure all of your servo controllers on the "External Controllers" tab in the Motors and Sensor Setup Window.
2. Click "OK" to close Motors and Sensor Setup and display all of the configuration #pragma lines.
3. On the last parameter of each servo that you want to use, manually change last option of the pragma line to 'tServoStandard' or 'tServoContinuousRotation'
4. You can also rename the servo by changing the third parameter from 'servo##' to whatever name you might like.

We hope to have this resolved for ROBOTC 4.x, but this workaround will help you get up and running today.

Timothy Friez
ROBOTC Developer - SW Engineer

Fri Aug 16, 2013 1:21 pm
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