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

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Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
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Program 28-4
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Motor Position Controlled by a Potentiometer (continued)
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'Calculate wave length 'Wait for the wavelength
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PRI Cog_FigGain repeat 'loop if ||PositionError=<1 'if no error ` Integ:=0 'set the variables to zero Index:=0 'set the variables to zero Else 'Otherwise index:=index+1 'increment the index counter If index==5 'when it reaches set value integ:=integ+1 'increase the integrating function index:=0 'and reset the index to 0 if integ > 2000 'set limit on integrated gain integ:=2000 'clamp value gain:=8+||positionError+integ 'add it all up for the gain. gain:=gain <# MaxGain 'gain must be less than MaxGain {{EXERCISES: Play with the equation on the last few lines to see what happens to the motor response to the error signal. Adjust the line TargetPosition:=InitPosition+PotOne to see what happens Work on making the response faster. There is a delay right now. How do you handle the overshoot when the gain has to increase really fast Disconnect power to motor and turn shaft and watch the LCD and the oscilloscope to see how the gain changes as the error changes. This is very instructive and very important to understand well. }}
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Next, let s modify the program to move the motor and encoder a few counts at a time, again and again, based on the values we read from a potentiometer. The encoder will be read in the control loop, and the potentiometer reading will be added to the error signal again and again to define the target position. The control algorithm will still be designed to bring the motor to its new zero error position. As we increase the potentiometer signal (that we add to the error signal), the motor will turn faster and faster. To stop it, we have to turn the potentiometer to zero, but this does not return the motor to its original position. The potentiometer now controls the speed of the motor. An error signal (that we can control) is controlling the speed of the motor. The listing for the program that demonstrates this operation is provided in Program 28-5. The changes to Program 28-4 are as follows:
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Gain made proportional. Value read from potentiometer reduced.
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holDing the MotoR Position
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Program 28-5
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Motor Speed Controlled by a Potentiometer
{{4 Sep 09 Harprit Sandhu HoldMotorPotSpd.Spin Propeller Tool Version 1.2.6 28 Program 05 This program controls the speed of the motor from a potentiometer. You may have to adjust the gain variable for your particular motor. Connections are Amplifier brake Amplifier PWM Amplifier direction Potentiometer LCD on the usual Revisions Oct 09 08 Dec 24 09
P2 P3 P4 P19 P12..P18
Revisions to make variables universal Added software runaway fin on motor direction Changed over to 4095 pots
}} OBJ Encoder : "Quadrature Encoder" LCD : "LCDRoutines4" 'for the LCD methods UTIL : "Utilities" 'for general methods 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
=2 =BRK+1 =BRK+2
Pos[3] stack2[25] stack3[25] stack4[25] stack5[25] Pulswidth
'Create buffer for encoder 'space for Cog_LCD 'space for Cog_SetMotorPower 'space for Cog_RunMotor 'space for Cog_FigureGain (continued)
Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
Program 28-5
Motor Speed Controlled by a Potentiometer (continued)
long long long long long long long long word word
PresPosition initPosition TargetPosition PositionError MinGain Gain MaxGain Index Integ PotOne
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 TargetPosition:=0 'we want to stay where we are repeat PotOne:=UTIL.Read3202_0 PRI cog_LCD pulswidth:=89 LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("Err=" )) 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) PUB Cog_SetMotPower dira[BRK..DIR]~~ outa[BRK]~ 'manage the LCD 'initialize the LCD 'LCD loop 'Go to 1st line 1st space 'Error '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
'These pins control the motor amp 'turn off the amp brake (continued)
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