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PORTC = 0; CMCON0 = 7; ANSEL = 0; TRISC = 0b000011;
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Turn off Comparators Turn off ADC RC5:RC2 Outputs
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while(1 == 1) // Loop Forever { NOP(); for (j = 0; j < 21000; j++); NOP(); OutputVal = (OutputVal & 0x3C) << 1; if ((1 << 6) == OutputVal) OutputVal = 1 << 2; PORTC = OutputVal; } // // elihw End cStepper 3
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I wrote code to control the movement of the unipolar stepper motor using a potentiometer; the control software is almost identical to that used in the preceding experiment with a 2- to 257-ms delay in the stepper motor movements. The C language version was called cStepper 4.c:
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#include <pic.h> /* cStepper 4.c - Control a Unipolar Stepper Motor Using a Pot Hardware Notes: PIC16F684 Running at 4 MHz with Internal Oscillator RC5:RC2 - Stepper Motor Outputs RA4 - Potentiometer Cotrol myke predko 05.01.15 */ __CONFIG(INTIO & WDTDIS & PWRTEN & MCLRDIS & UNPROTECT \ & UNPROTECT & BORDIS & IESODIS & FCMDIS);
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char OutputVal = 1 << 2; unsigned int j; unsigned char Period; const int Onems = 83; main() {
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PORTC = 0; CMCON0 = 7; ANSEL = 1 << 3; ADCON0 = 0b00001101;
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Turn off Comparators RA4 (AN3) is the ADC Input Turn on the ADC Bit 7 - Left Justi ed Sample Bit 6 - Use VDD Bit 4:2 - RA4 Bit 1 - Do not Start Bit 0 - Turn on ADC Select the Clock as Fosc/8 RC5:RC2 Outputs
ADCON1 = 0b00010000; TRISC = 0b000011;
while(1 == 1) // Loop Forever { NOP(); for (j = 0; j < Onems; j++); NOP(); GODONE = 1; // Start ADC for (j = 0; j < Onems; j++); Period = ADRESH; // Read Value if (0x80 != Period) // Only Move if Something There { if (0x80 < Period) // Forwards { Period = (Period - 0x80) ^ 0x7F; OutputVal = (OutputVal & 0x3C) << 1; if ((1 << 6) == OutputVal) OutputVal = 1 << 2; } else // Reverse - Period OK { OutputVal = (OutputVal & 0x3C) >> 1; if ((1 << 1) == OutputVal) OutputVal = 1 << 5; } // PORTC = OutputVal; // Move Stepper
} //
while (0 != Period) // Delay at New Position { for (j = 0; j < Onems; j++); Period = Period - 1; } // elihw } // // elihw End cStepper 4
MOTOR CONTROL
Coil Controls
Figure 18.14 Two sets of coils pull the bipolar stepper motor output shaft into position.
BIPOLAR STEPPER MOTOR CONTROL
There are a few characteristics of bipolar stepper motors that you should be aware of. They consist of four (or more) coils arranged perpendicularly to each other, as I have drawn in Fig. 18.14. These four coils surround a magnetized shaft that will be either attracted or repelled when the coils are energized. To turn the stepper motor on, the coils are energized in a pattern that will cause it to turn in one direction or another. Because of the time required to energize the coils along with the inertia (as well as any load resistance) of the shaft and reduction gearing placed on the shaft output, the speed of the stepper motor is much more limited than that of the dc motor. The reduction gearing reduces the movement of the motor output from 45 or 90 degrees for each change in position of the shaft to just a couple of degrees or so to maximize the torque output of the motor. Along with the slower speed of the stepper motor, the need to keep at least one coil energized at any one time will draw more current than the dc motor. The high-current push-pull drivers of the H-bridge are used to alternatively turn the two sets of coils on and off as well as to change polarities. In Table 18.5 I have listed the polarities for the different coils to move the shaft by 45 degrees at a time. This is known as half-stepping and requires that one or two coils be energized at any time. Full-stepping moves the shaft by 90 degrees at a time, and only one set of coils is energized at any time. In the table, the North and South speci cations are arbitrary and are used to indicate that the polarity of the coils magnetic elds changes over the course of the sequence. Also note that in the table I have emphasized the test of coil changing (one coil changes in each step). To test out the information in Table 18.5, I created the circuit shown in Fig. 18.15 with the bill of materials listed in Table 18.6 to drive a bipolar stepper motor and soldered it to a prototyping PCB. With the stepper motor that I used, the connector used
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