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Figure 18.16 The length of the pulse sent to an R/C servo determines the position of the output shaft.
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For producing a PWM signal using a PIC microcontroller, I normally use a timer interrupt (set every 20 ms) that outputs a 1.0- to 2.0-ms PWM signal using the following pseudocode:
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Interrupt() { int i = 0; // Output the Signal // Interrupt Handler Code
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BitOutput( Servo, 1);
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for (i = 0; i < (1 msec + ServoDlay); i++ ); BitOutput( Servo, 2); for (; i < 2 msec; i++ ); } // End Interrupt Handler // Delay full 2 msecs
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This code can be expanded easily to control more than one servo (by adding more output lines and ServoDlay variables). This method of controlling servos is also nice because the ServoDlay variables can be updated without affecting the operation of the interrupt handler. The interrupt handler takes 2 ms out of every 20 ms. This means that there is a 10 percent cycle overhead for providing the PWM function (and this doesn t change even if more servo outputs are added to the device). To demonstrate how a servo operates, I created the simple application asmServo.asm that reads the voltage from a potentiometer voltage divider and converts this value into a pulse width that is then sent to the servo. Figure 18.17 is the circuit s schematic, and Table 18.7 lists the bill of materials for the application. In this experiment, I use a potentiometer and the PIC16F684 s ADC to specify the position of the servo. The value returned from the potentiometer is displayed on 8 of the 10 LEDs built into an LED display bargraph. This function was originally put in to debug the ADC operation, but I left it in because I liked seeing the LEDs move with the servo.
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PIC16F684
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SPDT 0.01 uF 1 14 Vdd Vss RA0 RA1
470 Ohm 10 Pin SIP
4.5 V
10 k Pot
RA4 RA5 Vdd 2
11 RA2 10 RC0 9 RC1 8 RC2 7 RC3 6 RC4
} To Servo
Figure 18.17 This circuit will allow you to control a single servo with a potentiometer.
title asmServo - Controlling a Servo from a PIC16F684 ; ; This Program Monitors a Pot at RA3 (RA3) and moves a ; Servo at RA5 Accordingly. LEDs Indicate the Position ; of the Pot. ;
TABLE 18.7 BILL OF MATERIALS FOR SERVO CONTROL APPLICATION CIRCUIT PART DESCRIPTION
PIC16F684 10-k 4700.01- F LED SPDT R/C servo Misc. pot
PIC16F684 04/P 10-k 470single-turn potentiometer 10-pin resistor SIP
0.01- F capacitor, any type 10-LED Bargraph display PCB-mountable single-pole double-throw switch Standard R/C servo Prototyping PCB, 3 AA battery clip, three 0.100-in terminal block (see text)
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; Hardware Notes: ; PIC16F684 running at 4 MHz Using the Internal Clock ; RA4 - Pot Command ; RA5 - Servo Connection #de ne ServoPin PORTA, 5 ; RC4:RC0 - Bits 7:3 of LED Output ; RA2:RA0 - Bits 2:0 of LED Output ; ; ; Myke Predko ; 04.12.26 ; LIST R=DEC INCLUDE p16f684.inc __CONFIG _FCMEN_OFF & _IESO_OFF & _BOD_OFF & _CPD_OFF & _CP_OFF & _MCLRE_OFF & _PWRTE_ON & _WDT_OFF & _INTOSCIO ; Variables CBLOCK 0x020 Temp, Dlay ServoCount ServoState ENDC PAGE Mainline 0 ; PORTA PORTC 7 CMCON0 b 00001101 ADCON0 STATUS, RP0 0xD1 OPTION_REG ^ 0x80 1 << 3 ANSEL ^ 0x80 b 00010000 ADCON1 ^ 0x80 b 011000 For ICD Debug
org nop clrf clrf movlw movwf movlw movwf bsf movlw movwf movlw movwf movlw movwf movlw
Turn off Comparators Enable ADC on RA4
; ; ; ;
Enable TMR0 with 4x Prescaler RA4 (AN3) ADC Input Select ADC Clock as Fosc/8 RA4/RA3 As Inputs
R/C SERVO CONTROL
movwf clrf bcf clrf movlw movwf movlw movwf movlw addlw btfsc decfsz goto Loop: bsf clrf bcf bsf btfsc goto StartADC: bsf bsf goto ReadADC: movf movwf andlw iorlw movwf rlf movwf swapf andlw btfsc iorlw movwf bcf ADCDone: movf btfsc movlw sublw
TRISA ^ 0x80 TRISC ^ 0x80 STATUS, RP0 ServoState 0x80; ServoCount
All PORTC Outputs
Use Simple Servo State M/C Start with Servo in Middle
HIGH ((20000 / 5) + 256) Dlay LOW ((20000 / 5) + 256) -1 ; Wait for ADC Input to be Valid STATUS, Z Dlay, f $ - 3 ; 5 Cycle Delay Loop for 20 ms
ServoPin TMR0 INTCON, T0IF INTCON, T0IE ServoState, 0 ReadADC ADCON0, GO ServoState, 0 ADCDone ADRESH, w ServoCount b 00000111 1 << 5 PORTA ServoCount, w Temp Temp, w 0x0F STATUS, C 0x10 PORTC ServoState, 0 ServoCount, w STATUS, Z 1 0
; ; ;
Output a Servo Signal Wait for Over ow Calculate Value in 1 ms Pulse
Start ADC
Read ADC Value
; ; ;
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