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Figure 1232 Schematic of five servomotor controller
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also disabled If the brownout reset is not disabled, the circuit may automat ically reset whenever a servomotor draws enough current to make the supply voltage dip momentarily This is not what you want to happen in the middle of a robotic arm operation, so make sure that configuration bit is disabled These configuration bits are easy to set when you use the EPIC Programmer Simply go to the Configuration pull down menu and disable these options
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Manual control of five servomotors using 5 SPDT switches
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adcon1 = 7 Set port a to digital I/O Declare variables b0 var byte Use b0 as hold pulse width variable for servo 1 b1 var byte Use b1 to hold pulse width variable for servo 2 b2 var byte Use b2 to hold pulse width variable for servo 3 b3 var byte Use b3 to hold pulse width variable for servo 4 b4 var byte Use b4 to hold pulse width variable for servo 5 b6 var byte Variable for pause routine b7 var word Variable for pause routine Initialize servomotor variables
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b0 = 150 b1 = 150 b2 = 150 b3 = 150 b4 = 150 start:
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Output servomotor position
portb = 0 Prevents potential signal inversion on reset
pulsout portb7, b0 Send current servo 1 position out
pulsout portb6, b1 Send current servo 2 position out
pulsout portb5, b2 Send current servo 3 position out
pulsout portb4, b3 Send current servo 4 position out
pulsout portb3, b4 Send current servo 5 position out
Routine to adjust pause value (nom 18) to generate approx 50 Hz update
b7 = b0 + b1 + b2 + b3 + b4
b6 = b7/100
b7 = 15 b6
pause b7
Check for switch closures
if portc3 = 0 then left1
if portc2 = 0 then right1
if portc1 = 0 then left2
Start up position servo 1
Start up position servo 2
Start up position servo 3
Start up position servo 4
Start up position servo 5
Is sw1 left active
Is sw1 right active
Is sw2 left active
Robotic Arm if portc0 = 0 then right2 if porta5 = 0 then left3 if porta4 = 0 then right3 if porta3 = 0 then left4 if porta2 = 0 then right4 if porta1 = 0 then left5 if porta0 = 0 then right5 goto start
Routines for servomotor 1
left1:
b0 = b0 + 1
if b0 > 254 then max0
goto start
right1:
b0 = b0 1
if b0 < 75 then min0
goto start
max0:
b0 = 254
goto start
min0:
b0 = 75
goto start
Routines for servomotor 2
left2:
b1 = b1 + 1
if b1 > 254 then max1
goto start
right2:
b1 = b1 1
if b1 < 75 then min1
goto start
max1:
b1 = 254
goto start
min1:
b1 = 75
goto start
Routines for servomotor 3
left3:
b2 = b2 + 1
if b2 > 254 then max2
goto start
right3:
b2 = b2 1
if b2 < 75 then min2
Is sw2 right active Is sw3 left active Is sw3 right active Is sw4 left active Is sw4 right active Is sw5 left active Is sw5 right active
Increase the pulse width
Maximum 254 milliseconds
Decrease the pulse width
Minimum 75 millisecond
Cap max b1 at 254 milliseconds
Cap min b1 at 75 millisecond
Increase the pulse width
Maximum 254 milliseconds
Decrease the pulse width
Minimum 75 millisecond
Cap max b1 at 254 milliseconds
Cap min b1 at 75 millisecond
Increase the pulse width
Maximum 254 milliseconds
Decrease the pulse width
Minimum 75 millisecond
Twelve goto start max2: b2 = 254 goto start min2: b2 = 75 goto start Routines for servomotor 4 left4: b3 = b3 + 1 if b3 > 254 then max3 goto start right4: b3 = b3 1 if b3 < 75 then min3 goto start max3: b3 = 254 goto start min3: b3 = 75 goto start Routines for servomotor 5 left5: b4 = b4 + 1 if b4 > 254 then max4 goto start right5: b4 = b4 1 if b4 < 75 then min4 goto start max4: b4 = 254 goto start min4: b4 = 75 goto start end
Cap max b2 at 254 milliseconds
Cap min b2 at 75 millisecond
Increase the pulse width Maximum 254 milliseconds
Decrease the pulse width Minimum 75 millisecond
Cap max b3 at 254 milliseconds
Cap min b3 at 75 millisecond
Increase the pulse width Maximum 254 milliseconds
Decrease the pulse width Minimum 75 millisecond
Cap max b4 at 254 milliseconds
Cap min b4 at 75 millisecond
Figure 1233 is a photograph of the five servomotor controller The robotic arm servomotors can plug right onto the three position headers on the main board However, to separate the control board from the robotic arm, I used five 24 in servomotor extensions Once wired, each SPDT switch controls one robotic arm servomotor (see Fig 1234) When using the robotic arm, I noticed the arm move too quickly for me to perform fine movements So to slow it down, I added a delay routine This fol lowing program is identical to the above program, with the exception of the delay routine(s)
Robotic Arm
Figure 1233 Assembled five servomotor controller kit
Figure 1234 Finished robotic arm and five servomotor controller
Twelve Slow speed
Manual control of five servomotors using 5 SPDT switches
Microcontroller PIC 16F873
adcon1 = 7 Declare variables
b0 var byte b1 var byte b2 var byte b3 var byte b4 var byte b6 var byte b7 var word s1 var byte s2 var byte Use b0 as hold pulse width variable for servo 1
Use b1 to hold pulse width variable for servo 2
Use b2 to hold pulse width variable for servo 3
Use b3 to hold pulse width variable for servo 4
Use b4 to hold pulse width variable for servo 5
Variable for pause routine
Variable for pause routine
Unassigned delay variable
Assigned delay variable
Set port a to digital I/O
Initialize servomotor variables
b0 = 150 Start up position servo 1
b1 = 150 Start up position servo 2
b2 = 150 Start up position servo 3
b3 = 150 Start up position servo 4
b4 = 150 Start up position servo 5
s2 = 4 start:
Output servomotor position
portb = 0 Prevents potential signal inversion on reset
pulsout portb7, b0 Send current servo 1 position out
pulsout portb6, b1 Send current servo 2 position out
pulsout portb5, b2 Send current servo 3 position out
pulsout portb4, b3 Send current servo 4 position out
pulsout portb3, b4 Send current servo 5 position out
Routine to adjust pause value (nom 18) to generate approx 50 Hz update
b7 = b0 + b1 + b2 + b3 + b4
b6 = b7/100
b7 = 15 b6
pause b7
Check for switch closures
if portc3 = 0 then left5 if portc2 = 0 then right5 if portc1 = 0 then left4 Delay variable
Is sw1 left active
Is sw1 right active
Is sw2 left active
Robotic Arm if portc0 = 0 then right4 if porta5 = 0 then left3 if porta4 = 0 then right3 if porta3 = 0 then left2 if porta2 = 0 then right2 if porta1 = 0 then left1 if porta0 = 0 then right1 goto start Routines for servomotor 1 left1: s1 = s1 + 1 if s1 = s2 then b0 = b0 + 1 s1 = 0
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