.net barcode scanner sdk holDing the MotoR Position in Software

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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 (continued)
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repeat 'loop PresPosition:=pos[0] 'reads the encoder position TargetPosition:=TargetPosition+PotOne/256/3 PositionError:=TargetPosition-PresPosition case PositionError 'decision variable -1_000_000..-1: if MotorRev 'negative range outa[DIR]~~ 'move positive else outa[DIR]~ 'move negative PULSWIDTH:=gain*244/10 'set gain -0..0 : 'range for stopping PULSWIDTH:=0 'gain is set to 0 1..1_000_000: if MotorRev 'positive range outa[DIR]~ 'move negative else outa[DIR]~~ 'move positive PULSWIDTH:=gain*244/10 'set gain
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PUB Cog_RunMotor(Pin)|Cycle_time,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 'Set "A pin" to Pin# frqa:=1 'Set this counter's frqa value to 1 PulsWidth:=0 'Start with pulsewidth=0 Cycle_time:=clkfreq/100 ' time for the pulse width to 10 ms period:=cnt 'Store the current value of the counter repeat 'power PWM routine. phsa:=-PulsWidth ' high pulse for Pulsewidth counts period:=period+Cycle_time 'Calculate cycle time waitcnt(period) 'Wait for the cycle time PRI Cog_FigGain repeat if ||PositionError=<1 Integ:=0 Index:=0 Else index:=index+1 If index==5 integ:=integ+1 index:=0 if integ > 2000 integ:=2000
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'loop 'if no error ' 'set the variables to zero 'set the variables to zero 'Otherwise 'increment the index counter 'when it reaches set value 'increase the integrating function 'and reset the index to 0 'set limit on integrated gain 'clamp value
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Program 28-5
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Motor Speed Controlled by a Potentiometer (continued)
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gain:=8+||positionError+integ/4 '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 TargetPosition:=TargetPosition+PotOne line 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 real 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. Connect the oscilloscope to the PWM line. This is very instructive and very important to understand well. }}
In Program 28-5, the potentiometer position is added to the motor position register and the program tries to bring the motor position/error back to the new zero. As you turn the potentiometer further and further, the motor moves faster and faster because the error is increasing more and more rapidly. The motor keeps moving because the potentiometer position is added to the error register each time through the loop. Watch the error count in the display as you play with the potentiometer. It is not zero and reflects the motor error and the gain. The error determines the gain and therefore the speed! If there is no error, we don t need to do anything, so everything depends on the error. The goal is to determine the error and find ways to keep it minimized at all times. It is imperative that you understand exactly how cog_FigGain works in every detail in this program. This is the most sophisticated gain algorithm in the book even though it is not used in some of the later programs. It can be incorporated in them if you like. What we see in Program 28-5 is a simple motor speed controller operated from a potentiometer. This program fails if the target register overflows and does not tolerate high motor gains. What needs to be done to fix this (We have a huge target register, but eventually this will be a problem that needs to be addressed. The gain is defined as 12 bits, so it must not be allowed to exceed 4,095. However, that is too high, so it has been reduced to keep things manageable.) As currently written, Program 28-5 moves the motor in one direction only. We need the potentiometer to move the motor back and forth, and we also need it to control the motor s speed. If we subtract 2,048 from the potentiometer reading, we can interpret the potentiometer reading as a value between 2,048 and +2,047, with 0 being the no movement position. We will rewrite the code so the motor will respond accordingly.
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