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Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
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Program 28-11 Run Motor Slow/Fast/Slow/Stop and Then Repeat under Computer Control (No Human Intervention) (continued)
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: "LCDRoutines4" 'for the LCD methods
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CON _CLKMODE=XTAL1 + PLL2X _XINFREQ = 5_000_000 AmpBrake AmpPWM MotorDir VAR long long long long long long long long =2 =3 =4
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'The system clock spec
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Pos[3] stack2[25] stack3[25] stack4[25] stack5[25] gain time pulswidth
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'Create buffer for encoder 'space for Cog_LCD 'space for Cog_SetMotorPower 'space for Cog_RunMotor 'space for Cog_FigureGain
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PUB Go cognew(cog_LCD, @stack2) cognew(SetMotorPower, @stack3) cognew(RunMotor(AmpPWM),@Stack4) cognew(FigureGain, @stack5) repeat PRI cog_LCD 'manage the LCD LCD.INITIALIZE_LCD 'initialize the LCD repeat 'LCD loop LCD.POSITION (1,1) 'Go to 1st line 1st space LCD.PRINT(STRING("Time=" )) 'Error LCD.PRINT_DEC(time) 'print the pot reading LCD.SPACE(2) 'erase over old data LCD.POSITION (2,1) 'Go to 2nd line 1st space LCD.PRINT(STRING("Gain=" )) 'Potentiometer LCD.PRINT_DEC(gain) 'print the pot reading LCD.SPACE(2) 'erase over old data PUB SetMotorPower dira[AmpBrake..MotorDir]~~ outa[AmpBrake]~ repeat outa[MotorDir]~ PULSWIDTH:=gain*450
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'These pins control the motor amp 'turn off the amp brake 'loop 'move negative 'set gain (continued)
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RAMPing
Program 28-11 Run Motor Slow/Fast/Slow/Stop and Then Repeat under Computer Control (No Human Intervention) (continued)
PUB RunMotor(Pin)|WaveLength,period ' toggle the output line, set dira[AmpBrake..MotorDir]~~ 'g the three amplifier lines ctra[30..26]:=%00100 'Set this cog's "A Counter" to run PWM ctra[5..0]:=Pin ' "A pin" g to Pin# here frqa:=1 'Set this counter's frqa value to 1 PulsWidth:=0 'Start with pulsewidth=0 WaveLength:=clkfreq/50 ' time for the pulse width to 10 ms period:=cnt ' current value of the counter repeat 'power PWM routine. phsa:=-PulsWidth ' high for Pulsewidth counts period:=period+WaveLength 'Calculate wave length waitcnt(period) 'Wait for the wavelength PUB FigureGain 'power to motor repeat 'loop Case time 'base the gain on the time segment number 0..100: 'first 50 segments gain:=30 'slow speed 101..200: 'next 100 segments gain:=200 'fast speed 201..300: 'next 50 segments gain:=30 'slow speed 301..399: 'next 100 segments gain:=0 'Gain=0 means stop for a while waitcnt(120_000+cnt) 'length of each time segment is 0.1 secs time:=time+1 'add to time segment number if time==400 'check top time value for reset waitcnt(clkfreq/4+cnt) 'wait to look at LCD time:=0 'reset time counter
A typical, simple, coordinated move for each motor consists of a ramp up in speed, a run at a fixed speed, and then a ramp down in speed. Each move component for each motor takes the same amount of time, so all moves stay in sync. In most cases, it is desirable that the ramps be short, but we will use a longer ramp to start with so that we can actually see what is going on. Let s add a move distance and implement this scheme in the next program. To keep it in round numbers, let s define the move we will study as follows: exactly 5 seconds to move exactly 5,000 counts of a 42-slot encoder (this was the situation for my particular motor; your situation may be different). Because that is the total specification for the move, we get to figure out what we need to do to get this done. Let s say we will run at the maximum speed for 3 seconds. This will give us 1 second to speed up and 1 second to slow down. Let s agree that we will set up the program to update the gain 100 times a second during the move, for a total of 500 iterations. In our move profile, we will have 100 steps to speed up and 100 to slow down. The other 300 interrupts will be at the constant traverse speed. Because we are ramping up and
Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
down at a constant rate, the ramps will each use up 1 second and move a total of 1,000 counts for both ramps (half as much as if they were at full speed for 2 seconds). This means that during the middle 3 seconds, the motor has to move 4,000 counts or 1,333 counts per second. Considerably more than we had in mind! We could compensate for this by shortening the ramping times if that was critical, keeping in mind that a motor will ramp up only so fast and that the load affects this time. First, let s just ramp up and down. In Program 28-12, Pot1 controls the time between iterations (the larger the setting, the shorter the time and the faster the speed up), and Pot2 controls the distance moved during the ramp up and ramp down. In this program, the motor ramps up, ramps down, delays, and then goes back to the starting position rapidly (to prevent position register overflow). It Figure 28-6 Simple ramp then repeats the cycle (see Figure 28-6).
up/ramp down Program 28-12 Ramp Up/Ramp Down Move with Potentiometer-Controlled Variables (Based on Time Segments, Not Encoder Counts)
{{04 Nov 09 Harprit Sandhu MotorBasicMoveAuto.Spin Propeller Tool Version 1.2.6 28 program 12 This program makes a ramped move of a fixed number of encoder counts. During the move you can change the following: Pot1 controls the total number of counts in the move. Pot2 controls the ramp up speed. We will use the information gained here to design the equations to set the gain to make the move as fast as possible without overshoot. You may have to adjust the parameters for your particular motor. Connections are Amplifier brake Amplifier PWM Amplifier direction Potentiometer
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