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Pos[3] stack2[25] stack3[25] stack4[25] stack5[25] stack6[25] pulswidth PresentPosition gain TargetPosition PositionError startFlag startPosition
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'Create buffer for encoder 'space for Cog_LCD 'space for Cog_SetMotorPower 'space for Cog_RunMotor 'space for Cog_FigureGain 'space for Cog_Start ' ' ' ' ' ' '
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Program 28-8 Motor Moves Back and Forth. Motor Speed/Gain Controlled by CASE Statement, Move Distance Preset. (continued)
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PUB Go cognew(cog_LCD, @stack2) cognew(SetMotorPower, @stack3) cognew(RunMotor(3),@Stack4) cognew(figureGain, @stack5) cognew(StaartFlag, @stack6) Encoder.Start(0, 1, 0, @Pos) 'Reads the encoder position startPosition:=Pos[0] repeat targetPosition:=StartPosition+distance waitcnt(10000+cnt) repeat while startFlag==0 waitcnt(2_000_000+cnt) targetPosition:=startPosition waitcnt(10000+cnt) repeat while startFlag==0 waitcnt(2_000_000+cnt) PUB SetMotorPower dira[2..4]~~ 'These pins control the motor amp repeat 'loop PresentPosition:=pos[0] 'read the encoder position PositionError:=TargetPosition-PresentPosition case PositionError 'decision variable -100_000_000..-2: 'negative range outa[4]~~ 'move in position direction PULSWIDTH:=gain*450 'set gain -1..1 : 'range for stopping PULSWIDTH:=0*450 'gain is 0 2..100_000_000: 'positive range OUTA[4]~ 'move in negative direction PULSWIDTH:=gain*450 'set gain PRI cog_LCD LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("Err=" )) LCD.PRINT_DEC(PositionError) LCD.SPACE(5) LCD.POSITION (2,1) LCD.PRINT(STRING("Gain=" )) LCD.PRINT_DEC(gain) LCD.SPACE(2) '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 'gain 'print the pot reading 'erase over old data (continued)
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Program 28-8 Motor Moves Back and Forth. Motor Speed/Gain Controlled by CASE Statement, Move Distance Preset. (continued)
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LCD.POSITION (2,10) LCD.PRINT(STRING("Start=" )) LCD.PRINT_DEC(StartFlag)
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'Go to 2nd line 1st space 'Flag 'print flag status
PUB RunMotor(Pin)|WaveLength,period ' toggle the output line, set dira[2..4]~~ 'g the three amplifier lines ctra[30..26]:=%00100 'Set this cog's "A Counter" to run PWM ctra[5..0]:=Pin 'Set the "A pin" of this cog to Pin frqa:=1 'Set this counter's frqa value to 1 PulsWidth:=0 'Start with position=0 WaveLength:=clkfreq/100 'Set 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+WaveLength 'Calculate wave length waitcnt(period) 'Wait for the wavelength PUB figureGain repeat case ||PositionError 1..20:gain:=6 21..80:gain:=10 81..200:gain:=40 101..80000:gain:=80 'power to motor 0-255 'loop 'pot is NOT READ 'in these comparisons 'the gain is set by the 'amount of the error 'in the position.
PRI StaartFlag 'The start flag is used to inhibit the execution of repeat 'the next move to make sure that each move executes if ||PositionError<2 'fully. Then wait comd lets you see that the startFlag:=1 'motor stopped before proceeding to reversing else 'the motor. See main Cog above for more. startFlag:=0
After playing with the CASE constructs at the end of Program 28-8 in the figureGain method for a while, you will start to get a feel for how to design a gain algorithm that will give you a satisfactory solution for the motor/load combination you are working with. If the language we are using had the ability to solve equations and is fast enough, we could, of course, use that facility. Let s write a program that gives us some idea of how the motor responds to the power supplied to it. For each gain, we want to know how fast the motor moves as expressed in encoder counts per second. From the data, we will create a table. As we have done previously, in Program 28-9 we are controlling the motor speed with the potentiometer, but in this case we want to display the speed and potentiometer setting, so we can create a power vs. speed table (see Table 28-1).
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Program 28-9 Creating a Motor Speed vs. Motor Power Table. Gain for Each Reading Controlled Manually with a Potentiometer.
{{14 Sep 09 Harprit Sandhu MotorPotSpeedTable.Spin Propeller Tool Version 1.2.6 28 Program 09 This program controls speed of motor from the pot. Displays speed and pot setting. You may have to adjust the gain variable for your particular motor. Connections are Encoder 1 Encoder 2 Encoder 3 Encoder 4 Also need power and Amplifier brake Amplifier PWM Amplifier direction Potentiometer
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