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Figure 13-23. Stepper motor circuit
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CHAPTER 13 I C BUS COMMUNICATION
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Figure 13-24 shows just the carriage assembly for a little scanner built using the 35DBM10B2U-L linear stepper motor. The lead screw of the stepper is prevented from turning because it has been screwed into the beam end of the two triangle plates that serve as the slider. As the lead screw is pulled (or pushed) through the stepper, these plates slide back and forth and are held straight by two long axles. The movement of the slider is very precise because the total travel is about 2 inches (5cm) and takes more than 1,600 steps to traverse.
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Figure 13-24. 35DBM10B2U-L with linear carriage Figure 13-25 graphically shows the voltage pattern needed to produce continuous motion. The coils are in pairs: yellow/black and orange/brown. The members of a pair are never turned on at the same time because this is a unipolar device. It takes four steps before the pattern repeats, and the four values that need to be sent to the PCF8574 are shown at the bottom of the figure.
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Black
Port Value
10 Clockwise Rotation
Counterclockwise Rotation
Figure 13-25. Stepper motor voltage pattern
CHAPTER 13 I C BUS COMMUNICATION
There are really two programs shown in Figure 13-26. Running the first will sequence the values 5, 9, 10, and 6 repeatedly 400 times for a total of 1,600 steps. The slider will move almost the entire length of the carriage to the right. The second program produces the sequence in reverse order and will cause the slider to return exactly back to the starting position.
Figure 13-26. Advance and Retract stepper motor programs
PCF8591
Another useful I2C integrated circuit is the PCF8591 8-bit analog-to-digital (A/D) converter. It has four channels of analog input and a single channel of analog output. You can see the basic functionality of the part in Figure 13-27. The 8-bit A/D is made by comparing the output of the digital-to-analog (D/A) converter to the selected analog input. A process called successive approximation determines the correct value in just eight clock cycles. The digital results range from 0 to 255, and if you multiply the result by 4, it will look like the Raw values from the NXT A/D.
A0 A1 A2 SCL SDA VDD VSS Power Reset Compare AO 12CBus Control 8 Bit Shift Register DAC Analog Mux
AI0 AI1 AI2 AI3
Figure 13-27. PCF8591 8-bit A/D and D/A
CHAPTER 13 I C BUS COMMUNICATION
Each PCF8591 has three address pins that allow you to connect up to eight PCF8591s on a single I2C bus. With all address lines tied to VSS, the base address is 144 decimal (hexadecimal 90), and you can use Figure 13-28 to derive the other address values. Unlike the PCF8574, there is no A series version with an alternate base address.
1 0 0 1
PCF8591
Address
Figure 13-28. PCF8591 addressing The PCF8591 has several options that are configured by writing a control byte, and Figure 13-29 is a diagram of the control byte. The input Mode bits can be thought of as a single 2-bit number with values from 0 to 3.
0 0 0 0 0 1 0 0 CH#
In Mode AO Enable
Auto
Figure 13-29. Control byte Figure 13-30 illustrates the four input Modes. When the Auto increment bit at 1, the conversions will start with channel 0 and automatically increment to the next channel for every byte that is read from the part.
IN0 IN1 IN2 IN3 Mode 0 IN0
CH0 CH1 CH2 CH3
IN2 IN3
Mode 1 IN0 IN1 IN2 IN3
CH0 CH1 CH2
Mode 2 IN0 IN1 IN2 IN3
+ +
Mode 3
Figure 13-30. 8591 Input Modes
CHAPTER 13 I C BUS COMMUNICATION
Basic programming for the part requires first writing the control byte with the Auto increment bit set and then reading 5 bytes back. The first byte read is actually an old conversion value and should be ignored. The last 4 bytes are the new values for channels 0 through 3. You could select and read one channel at a time, but reading all of them this way is easier and just as fast.
Four Analog Ins
Figure 13-31 shows a PCF8591 circuit that can read four analog inputs. Channels 0 and 1 have 10k pullup resistors, and you could use any of the sensors from s 4, 5, 6, and 8 with them. These sensors would connect between either CH0 or CH1 and GND. Channels 2 and 3 have potentiometers connected, but unlike the pots in 6 they read a voltage linearly related to the shaft angle. That s because they re voltage dividers for the full power supply voltage, not just a divider with the 10k pull-up inside the NXT.
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