barcode reader in asp.net mvc The completed four-servo-controller circuit. in Software

Encoder QR Code JIS X 0510 in Software The completed four-servo-controller circuit.

The completed four-servo-controller circuit.
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Figure 21.45 The servo-controller circuit consists of a PIC16C71 and a 74LS174 used as a serial-to-parallel converter for the LCD.
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TABLE 21.19 PART
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SERVO-CONTROLLER BILL OF MATERIALS DESCRIPTION
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U1 U2 U3 Y1 C1 C3 R1 R4 R5, R6 SW1, SW2 Misc.
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PIC16C71/JW 25LC04B I2C serial EEPROM 74LS174 hex D ip- op 4-MHz ceramic resonator with internal capacitors 0.1 F any type 10 k , 1/4 W 10-k single-turn potentiometers
Momentary-on pushbutton switches Prototyping PCB, wiring, 8, 16, and 18 DIP sockets, 14 1 0.100-in socket for LCD, 4 3 1 0.100-in pin headers for servos, 5-V, 500-mA power supply
MID-RANGE DEVICES
When I rst developed the circuit (and the preceding schematic), I just went ahead and assembled it on a vector board (as shown in Fig. 21.44). A vector board is a good prototyping tool for this project because of the repeated power and grounds that are easily bussed. The user interface consists of a pot, two buttons, and a 16-character by two-line LCD. Making it all work together is a menu routine that takes a source message, puts it on the screen, and then handles user input in the form of a pot position and then buttons selecting the action. The initial screen looks like this:
Servo Controller >Pos< Pgm Run
The button at RB4 is the Select button, which will move the cursor (the > and <) between the actions on the lower line of the LCD. When the Enter button (at RA2) is pressed, the display program is ended, and the cursor position is returned to the caller. The pot is used to select arbitrary values (i.e., the ##). Using a pot to specify exact values is kind of tricky and will require some practice and patience. An optimal solution would be to use a multiturn pot instead of the singleturn one that I used (you also should put on a knob to make turning the pot easier on the ngers). The reason why I went with the pot in the rst place is because the servo position and program delay values are not really precision operations. The user interface is used to provide a non-language-based programming environment. With the pot Select and Enter buttons, you can specify an immediate servo position, enter in a program, or run the program (either single steps or running with 20-ms nominal steps). I used radio-control model servos for this project that rely on a 1- to 2-ms pulse (the duration speci es the position) every 20 ms. The 20-ms cycle is a natural for a TMR0based interrupt handler. When invoked, the interrupt handler outputs a pulse of 1 ms to each servo and then loops with a counter. When the counter value is greater than the value for a particular servo, the pulse for that servo is turned off. The counter continues to loop until a full 2 ms (to allow full travel of a servo) is complete. TMR0 then is reset to an 18-ms delay (so that the whole cycle is 20 ms long). The mainline program is responsible for updating the servo positions from user input or the application program in the serial EEPROM. Note that for this project, the servo position granularity is such that there are 50 steps from stop to stop. This is due to the parallel control of the servos; the count loop takes quite a long period of time checking each servo value to see if it has to be updated. The number of steps can be increased by using either a faster PIC microcontroller clock or fewer servos and taking out the code used to support the unneeded devices. The last major subblock of this project is the I2C serial EEPROM. The 24LC04B provides 4 kb or 512 bytes of EEPROM. For each program instruction, 2 bytes are used, in the format shown in Table 21.20.
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