.net barcode scanner sdk holDing the MotoR Position in Software

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holDing the MotoR Position
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which could be still higher (4095). It could be stiffer, much stiffer! (Keep in mind that the values selected must never allow the pulse width to exceed 10,000.) Next, let s modify this program to follow a potentiometer reading, not unlike what an R/C servo does. In order to do this we have to modify the target position so that it is the sum of the original zero position and the potentiometer reading. This is how we build giant servos that follow the count in the target position. This is how the guys on MythBusters control their remote-controlled automobiles: one servo for the gas pedal, and one for the steering wheel. As you will see, it s easy when you know how. Now if we were to add to or subtract from the register that contains the encoder counts to bring the motor to its set position, we would have a rudimentary motorcontrol algorithm. Of course, many improvements can be made and sophistication added, but basically this is what we are trying to do with all the programs that control encoder-coupled motors. In Program 28-4, we are adding the count read from a potentiometer to the target position each time through the control loop.
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Program 28-4 Motor Position Controlled by a Potentiometer
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{{4 Sep 09 Harprit Sandhu MotorHoldPotPos.Spin Propeller Tool Version 1.2.6 28 Program 04 This program moves the encoded motor to a position controlled by a potentiometer. Range is 4095 encoder counts. This makes a servo like an R/C hobby servo only much much more powerful. You may have to adjust the gain variable for your particular motor. Connections are Amplifier brake Amplifier PWM Amplifier direction Potentiometer 3202 LCD on the usual Revisions Oct 09 08 Dec 24 09
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P2 P3 P4 P19..P22 P12..P18
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Revisions to make variables universal Added software runaway fin on motor direction Changed over to 4095 pots
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}} OBJ Encoder : "Quadrature Encoder" LCD : "LCDRoutines4" 'for the LCD methods UTIL : "Utilities" 'for general methods
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Program 28-4
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Motor Position Controlled by a Potentiometer (continued)
CON _CLKMODE=XTAL1 + PLL2X _XINFREQ = 5_000_000 MotorRev =1
'The system clock spec 'set this to 0 to reverse a runaway motor 'set to 1 for normal operations. 'You can also fix this runaway by reversing 'encoder leads.
BRK PWM DIR VAR long long long long long long long long long long long long long long word word
=2 =BRK+1 =BRK+2
Pos[3] stack2[25] stack3[25] stack4[25] stack5[25] Pulswidth PresPosition initPosition TargetPosition PositionError MinGain Gain MaxGain Index Integ PotOne
'Create buffer for encoder 'space for Cog_LCD 'space for Cog_SetMotorPower 'space for Cog_RunMotor 'space for Cog_FigureGain ' ' ' ' ' ' ' ' ' ' '
PUB Go cognew(Cog_LCD, @stack2) cognew(Cog_SetMotPower, @stack3) cognew(Cog_RunMotor(PWM), @Stack4) cognew(Cog_FigGain, @stack5) Encoder.Start(0, 1, 0, @Pos) 'Read the encoder position MaxGain:=2000 MinGain:=100 repeat PotOne:=UTIL.Read3202_0 PRI cog_LCD pulswidth:=89 LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("Err=" )) 'manage the LCD 'initialize the LCD 'LCD loop 'Go to 1st line 1st space 'Error (continued)
holDing the MotoR Position
Program 28-4
Motor Position Controlled by a Potentiometer (continued)
LCD.PRINT_DEC(PositionError) LCD.SPACE(2) LCD.POSITION (2,1) LCD.PRINT(STRING("Gain=" )) LCD.PRINT_DEC(gain) LCD.SPACE(2) LCD.POSITION (1,11) LCD.PRINT(STRING("Integ")) LCD.SPACE(1) LCD.POSITION (2,11) LCD.PRINT_DEC(Integ) LCD.SPACE(2)
'print error 'erase over old data 'Go to 2nd line 1st space 'Potentiometer 'print the pot reading 'erase over old data 'Go to 1st line 11th space 'set position for cursor 'Go to 2nd line 11th space 'print the index 'erase over old data
PUB Cog_SetMotPower dira[BRK..DIR]~~ 'These pins control the motor amp outa[BRK]~ 'turn off the amp brake repeat 'loop PresPosition:=pos[0] 'reads the encoder position TargetPosition:=InitPosition+PotOne PositionError:=TargetPosition-PresPosition case PositionError 'decisions variable -1000000..-2: if MotorRev 'negative range outa[DIR]~~ 'move positive else outa[DIR]~ 'move negative PULSWIDTH:=gain*244/10 'set gain -1..0 : 'range for stopping PULSWIDTH:=0 'gain is set to 0 1..1000000: if MotorRev 'positive range outa[DIR]~ 'move negative else outa[DIR]~~ 'move positive PULSWIDTH:=gain*244/10 'set gain PUB Cog_RunMotor(Pin)|WaveLength,period ' toggle the output line, set dira[BRK..DIR]~~ ' the three amplifier lines ctra[30..26]:=%00100 'Set this cog's "A Counter" to run PWM ctra[5..0]:=Pin ' "A pin" of cog to Pin# here frqa:=1 'Set this counter's frqa value to 1 PulsWidth:=0 'Start with pulsewidth=0 WaveLength:=clkfreq/100 'Set the pulse width to 10 ms period:=cnt 'Store the current value of the counter repeat 'power PWM routine. phsa:=-PulsWidth 'Send high pulse for Pulsewidth count (continued)
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