.net barcode scanner sdk Running DC MotoRs with AttACheD inCReMentAl enCoDeRs in Software

Creating Quick Response Code in Software Running DC MotoRs with AttACheD inCReMentAl enCoDeRs

Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
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The circuitry that we will use to control the encoded DC motor is shown in Figure 28-4.
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note on encoder Connection If the motor runs away in a controlled situation, it
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means that the encoder is connected backward. This can be fixed by reversing the encoder signal leads, reversing the motor leads, or inverting the signals in the software.
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note A potentiometer controls the gain in Program 28-1.
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Keeping track of the encoder counts and at the same time managing the motor is not trivial by a long shot. A considerable amount of code has to be processed, and it has to be done constantly. No encoder counts can be dropped. On the other hand, if
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Figure 28-4 Wiring schematic for running a DC motor with an encoder
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holDing the MotoR Position
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the encoder tracking can be assigned to one cog, we have a completely different situation. In the eight-processor Propeller system, we can do this with ease. The pseudocode for holding a motor at one position is as follows:
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Set an appropriate initial amplifier gain so the motor will move. Set the current encoder count to zero. Set the current position as the zero position. Read the encoder position. If it has increased, reverse the motor. If there is no change do nothing. If it has decreased, move the motor forward. Go back and read the encoder again.
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Refinements would consist of schemes for adjusting the power to the motor, based on how far it is from the desired position, in real time. When the motor got close to the desired position, the power supplied would be adjusted to be enough to keep the motor moving at the desired rate. The inertia of the motor and the load on it also play a role in determining the power supplied, meaning that the operation of the system is tuned to one load, unless there is some sort of tuning-optimization software in place to compensate for changes in real time. Everything takes processor time, so processor capability is a big factor in running encoded motors. The adjustments we just discussed are implemented in Program 28-1. Program 28-1 provides the rudimentary control needed to hold a motor on an encoder position, as described previously. Later programs modify this code to add features and refinements. In Program 28-1, we use five cogs; they are assigned as follows:
Cog_0 is the main cog. This cog starts the other cogs and then goes into a loop that
reads the potentiometers. This cog is called Go.
Cog_1 is called Cog_LCD. It manages the display on the two lines of the LCD. It
displays the motor error and the gain (power to) of the motor. The object calls we will use were developed in 21 (on using the LCD). Cog_2 is called Cog_SetMotPower. It sets the motor power and direction based on the potentiometer reading and the gain calculations from other cogs. The cogs read the encoder position with the Encoder object program. The Encoder program is incorporated into our programs from the Parallax object exchange website. The encoder has to be read in Assembly language and, as beginners, we do not have the expertise to develop this code. On the other hand, in the Propeller system, we all share the code we develop. You have permission to use all the code in this book essentially without restriction or charge, as per the terms of the MIT License (see the preface for details of the license agreement). Therefore, learning how to use the code developed by others is an important part of what we are learning here. The Quadrature Encoder object is the only program we are using from the Propeller Object Exchange (POE). However, we have been using the Utility and LCDRouting4 objects, which we developed ourselves, in our programs on a regular basis.
Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
Cog_3 is called Cog_RunMotor. It is used to set up the counter that manages the
PWM needed to run the motor. The PWM is fed to the motor power algorithm in Cog_RunMotor. This is the cog that actually runs the motor by managing the amount of power the motor is fed. The code is based on the code we developed to run a DC motor in 25. Cog_4 is called Cog_FigGain. It is used to figure the gain for the motor based on the error signal and the motor position (or whatever the programmer wants). This is the method we will play with to better understand the motor responses. The code in the following programs is similar, but you ll see some subtle-butimportant changes that determine how the readings from the potentiometer are used to control the behavior of the motor and how the power to the motor is determined. Be sure you understand these changes in each program.
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