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In this application, note that I output the PWM signal twice for each ADC sample loop. During the rst PWM signal output, the ADC s input capacitor is allowed to stabilize. During the second PWM output, the ADC operation is allowed to take place. I set the ADC with the divide by eight TAD clock. The actual assembly-language code is not much more complex and can be found in the code\motorctrl folder. In this application, there are a few things that I want to bring to your attention. The rst is that the PWM output operation, which was coded in assembly language as
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bsf decfsz goto bcf decfsz goto PWMOut ADCON, f $ - 1 PWMOut ADCoff, f $ - 1 ; Output the First Value
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takes 99 instruction cycles under all cases, and I have written the ADC scaling so that the value always will be between 1 and 32. By making the value one-based instead of zero-based, I avoided the problem where if one of the ADC time values were equal to zero, I would end up looping 256 times.
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The second issue is that the scaling routine takes more cycles that I would have liked:
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rrf movwf rrf rrf movlw andwf incf ADRES, ADCON ADCON, ADCON, 0x01F ADCON, ADCON, w f f f f ; ; Read the ADC result Convert to a 1-32 Value
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The problem is that the ADCON scaling has to be
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ADCON = (ADRES >> 3) + 1;
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for the PWM code to work properly. To get the higher PWM frequency, the application s clock would have to be increased. To keep the application simple, I elected to use the PIC microcontroller s built-in 4-MHz RC oscillator. If I were to increase the operating frequency, I would have had to use an external oscillator.
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In this application I want to jump right to creating a fairly complex control application that allows forward and reverse, as well as speed control, of a dc motor using the full H-bridge circuit of Fig. 18.11 with the bill of materials in Table 18.3. The direction and speed of the motor are speci ed by the potentiometer; when the potentiometer is in centered, the motor is stopped. When the potentiometer is turned toward one extreme, the
SPDT 0.01 uF 1 14 Vdd Vss 5 7 6 8 100 100
100 2N3906
10 k Pot 6.0 V
100 2N3904
A complete dc motor control application.
PIC16F684 2N3904 2N3906 1N914 100 10-k pot
PIC16F684 04/P 2N3904 NPN bipolar transistors 2N3906 PNP bipolar transistors 1N914 or 1N4148 silicon diodes 100 10-k
/4 W
single-turn potentiometer
0.01- F SPDT Misc.
0.01 F capacitor, any type PCB-mountable single-pole double-throw switch PCB board, 3x AA battery clip, dc motor, two screw terminals
motor will start turning and speed up as the potentiometer reaches the end of its travel. If the potentiometer is turned in the opposite direction from center, then the motor will turn in the opposite direction, starting off slowly and moving much faster as the wiper approaches the other stop. This is a fairly intuitive interface and one that will allow you see the operation of the H-bridge as well as the PWM signal that controls the motor s speed. The circuit (see Fig. 18.11) was designed for using the PWM capabilities of the PIC16F684 s ECCP, which requires RC5 RC2 to interface to four motor drivers and run a single motor in both directions with PWM speed control. I used a small hobby motor rated at 4 V that I bought at an electronics store. As I indicated earlier, one of the purposes of this experiment is to control the motors using the built-in ECCP PWM along with a potentiometer polled once every 100 ms for controlling the speed and direction of the motor. A PWM frequency of 15 kHz was chosen because it allowed a 64-step PWM control output and still ran above the range of most people s hearing. Generally, a PWM control output of 20 kHz is desired because it ensures that it is above the range of hearing and will not affect other devices. To produce a PWM of 20 kHz, a TMR2 reset value of 48 would have had to be produced, which would require passing one-third the value of the ADC rather than one-half, as I have done in this application. The ECCP PWM is quite easy to set up but does have an issue with the bipolar transistors used in this experiment the high output of the PIC16F684 is less than Vdd applied to the PNP transistor, and when the PIC MCU output is high (turning off the PNP transistor), there still is some current ow. To eliminate this current ow (as well as any potential current ow to the NPN transistors when they are supposed to be off), I make the pin connected to the base of the unused transistor an input. This application code is called cMotor.c.
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