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(TimeSegs), each of which represents one iteration of the moves in the Go method. The program move can be totally defined by the variables set at the top of the Go method. This program needs the following refinements to make it more useful:
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1. Convert to a time-based regime. 2. Set a limit on the top gain to be allowed. 3. Add the ability to change the ramping times relative to the total time. 4. Convert to the number of encoder counts moved within the time specification.
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The flexibility that can be added is limited only by your imagination. For experimental and investigative purposes, one thing we could do immediately is to make certain variables dependent on the values of the two potentiometers we have available. The ramping we have been discussing is illustrated in Figure 28-7. Figure 28-7 The speed/time Look at the PWM signal on the oscilloscope as path to be followed by the you run this program. You can see it change as the motor motor goes through the cycle. In this particular experiment, it gets to above a 50% duty cycle, which is not desirable because this does not leave enough room to provide for sudden load changes. As discussed earlier, under no load, the motor should be able to follow the profile with no more than a 35% to 50% PWM duty cycle.
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A lot of the work we do with motors as hobbyists (and this is useful for other applications too) has to do with running them from the signal we get from a hobby R/C receiver/transmitter. This is no different from running the motor from a PWM signal. The math we do has to convert the R/C signal pulses into what we need for running a motor. Let s take a closer look at this with the radio control signal in mind. Assume that these signals come in at pulses between 750 and 2,250 ms with zero motion at 1,500 ms. We want this signal to be converted to a number between 127 and +127 and fed to the instruction to run a motor. The pseudocode for doing this is as follows:
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Read the signal pulse length from the radio receiver (500 to 2,500 ms). Convert it to a number going from -127 to 0 to +127. Multiply by two to get full-scale operation. Set the direction of the motor from the value sign. Run or position the motor. Loop, and do it again.
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We can also feed the value read to the target position and use it that way, just as we have been doing in the earlier programs. The caveat would be that the target value in
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the motor position counter underflows at 0 and overflows at 16.7 meg, and you have to reset the encoder position counter before this happens. To turn a DC servo motor to a position-seeking servo based on an R/C signal, we have to do the following things:
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1. Read the pulse width from the radio. 2. Divide to get a stable number to provide a half revolution like an R/C servo. 3. Position the motor to the radio signal. 4. Repeat.
The scheme for doing this is implemented in Program 28-14.
Program 28-14 of Motor) Program to Turn Motor into an R/C Servo (Remote Position Control
{14 Sep 09 Harprit Sandhu MotorPositionRC.Spin Propeller Tool Version 1.2.6 28 Program 14 This program Positions the DC motor from a hobby R/C transmitter just like it would a R/C hobby servo, but many revs. You may have to adjust the parameters for your particular motor. Connections are Amplifier brake Amplifier PWM Amplifier direction Radio signal in LCD on the usual }}
P2 P3 P4 P24 P8..P18
OBJ Encoder : "Quadrature Encoder" LCD : "LCDRoutines4" 'for the LCD methods UTIL : "Utilities" 'for general methods CON _CLKMODE=XTAL1+ PLL2X _XINFREQ = 5_000_000 BRK =2 PWM =BRK+1 DIR =BRK+2 PulseIn =24
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