.net barcode scanner sdk 'The system clock spec in Software

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R/C signAl use
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Program 28-14 Program to Turn Motor into an R/C Servo (Remote Position Control of Motor) (continued)
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Pos[3] stack2[35] stack3[35] stack4[35] stack5[35] startcycle endPulse endCycle CycleLen PulseLen pulswidth freq MotPwr PresPos TargPos
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'Create buffer for encoder 'space for Cog_LCD 'space for Cog_SetMotorPower 'space for Cog_RunMotor 'space for Cog_Encoder ' ' ' ' ' ' '
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PUB Go cognew(cog_LCD, @stack2) cognew(SetMotorPower, @stack3) cognew(PosMotor(3), @Stack4) cognew(Enco, @Stack5) Encoder.Start(0, 1, 0, @Pos) 'Read the encoder position Dira[PulseIn]~ repeat waitpeq(|<PulseIn, |<PulseIn, 0) 'wait for line to go low. waitpeq(0, |<PulseIn, 0) 'wait for line to go low. waitpeq(|<PulseIn, |<PulseIn, 0) 'wait for line to go low. startCycle:=CNT 'read the timer count 0) waitpeq(0, |<PulseIn, 0) 'wait for line to go low... endPulse:=CNT 'read the timer count for second time waitpeq(|<PulseIn, |<PulseIn, 0) 'wait for line to go low. endCycle:=CNT 'read the timer count for second time pulswidth:=(endPulse-startCycle) 'figure the pulse freq:=clkfreq/(endCycle- startCycle) 'figure the freq
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PRI cog_LCD LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("POSN=" )) LCD.PRINT_DEC(Prespos) LCD.SPACE(2)
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'manage the LCD 'initialize the LCD 'LCD loop 'Go to 1st line 1st space 'POSITION 'print position 'erase over old data (continued)
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Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
Program 28-14 Program to Turn Motor into an R/C Servo (Remote Position Control of Motor) (continued)
LCD.POSITION (1,11) LCD.PRINT(STRING("DIR=" )) LCD.PRINT_DEC(ina[Dir]) LCD.SPACE(2) LCD.POSITION (2,1) LCD.PRINT(STRING("TARG=" )) LCD.PRINT_DEC(TargPos) LCD.SPACE(2)
'Go to 1st line 11 space 'Direction of motor power 'print 'erase over old data 'Go to 2nd line 1st space 'TARGET 'print 'erase over old data }
PUB SetMotorPower dira[BRK..DIR]~~ 'These pins control the motor amp repeat ' targPos:=pulswidth/10 'loop if TargPos<PresPos ' OUTA[DIR]~~ ' dira[BRK]~ ' MotPwr:=||(TargPos-PresPos)*200 if TargPos==PresPos ' dira[BRK]~~ ' MotPwr:=0 ' if TargPos>PresPos ' OUTA[DIR]~ ' dira[BRK]~ ' MotPwr:=4|(TargPos-PresPos)*200 PUB PosMotor(Pin)|WaveLength,period ' toggle the output line dira[BRK..DIR]~~ ' the three amplifier lines ctra[30..26]:=%00100 'Set this cog's "A Counter" to run PWM ctra[5..0]:=Pin ' "A pin" of this cog to Pin# here frqa:=1 'Set this counter's frqa value to 1 motpwr:=0 'Start with pulsewidth=0 WaveLength:=clkfreq/100 ' time for the pulse width 10 ms period:=cnt 'Store the current value of the counter repeat 'power PWM routine. phsa:=-MotPwr ' high pulse for Pulsewidth counts period:=period+WaveLength 'Calculate wave length waitcnt(period) 'Wait for the wavelength PRI Enco dira[0..1]~ repeat PresPos:=Pos[0] 'reads encoder 'encoder pins are inputs
In Program 28-14, we are using the waitpeq command to wait for the signals coming in on the line we are monitoring. This is the preferred way to wait for a line to change. Another way of doing this is shown in Program 28-15. Compare the two methods.
R/C signAl use
Finally, if you want to control the speed of the motor from an R/C signal, the pulse width read from the radio has to be converted to a number between 0 and 255. This number is then used just like we used the signal from the potentiometer to run the motor. The code we are using was originally discussed in 24 on hobby servos. The pseudocode for running the motor from an R/C signal is as follows:
Read the incoming Convert the range Use the converted Use the converted Run the motor. Read the incoming pulse width in microseconds. from 750 to 2,250 microseconds to a value from -127 to +128. value to determine the motor direction. value to determine the motor gain. pulse width again.
The conversion can be made as follows: Motor gain = (pulsewidth in 1,500) * 255/1,500 We can assign cogs to this problem s solution as follows:
Cog_0 Cog_1 Cog_2 Cog_3
Start the other cogs, set up I/O, and loop to read input pulse length. Manage the LCD display. Calculate motor gain as a pulse width. Run the motor.
The code for these cogs is shown in Program 28-15.
Program 28-15 Program in Which Motor Speed and Direction Follow an R/C Servo Signal (Remote Speed Control of a Motor)
{{14 Sep 09 Harprit Sandhu MotorSpeedDirRC.Spin Propeller Tool Version 1.2.6 28 Program 15 This program runs the motor back and forth from a signal received from a hobby R/C transmitter as would be used by a servo. 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 }}
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