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(continued)
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Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
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Program 28-15 Program in Which Motor Speed and Direction Follow an R/C Servo Signal (Remote Speed Control of a Motor) (continued)
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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 RadioIn =24 VAR long long long long long long long long long long long Pos[3] stack2[25] stack3[25] stack4[25] startcycle endPulse endCycle CycleLen PulseLen freq MotPwr 'The system clock spec
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'Create buffer for encoder 'space for Cog_LCD 'space for Cog_SetMotorPower 'space for Cog_RunMotor ' ' ' ' ' ' '
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PUB Go cognew(cog_LCD, @stack2) cognew(SetMotorPower, @stack3) cognew(RunMotor(3),@Stack4) Dira[RadioIn]~ repeat repeat while ina[RadioIn]==1
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repeat while ina[RadioIn]==0 startCycle:=CNT repeat while ina[RadioIn]==1 endPulse:=CNT repeat while ina[RadioIn]==0 endCycle:=cnt
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'wait for line 1 to go low. 'make sure that we see 'at full wave when we start measuring 'wait for line 1 to go low. Manual 'read the timer count 'wait for line 1 to go hi. See Manual 'read the timer count for second time 'wait for line 1 to go low. Manual. 'figure the pulse 'figure the cycle Len 'figure the freq
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PulseLen:=(endPulse-startCycle)/10 CycleLen:=endCycle-startCycle freq:=10_000_000/CycleLen
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R/C signAl use
Program 28-15 Program in Which Motor Speed and Direction Follow an R/C Servo Signal (Remote Speed Control of a Motor) (continued)
PRI cog_LCD LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("PWR=" LCD.PRINT_DEC(MotPwr) LCD.SPACE(2) LCD.POSITION (1,11) LCD.PRINT(STRING("DIR=" LCD.PRINT_DEC(ina[Dir]) LCD.SPACE(2) LCD.POSITION (2,1) LCD.PRINT(STRING("WLN=" LCD.PRINT_DEC(CycleLen) LCD.SPACE(2) LCD.POSITION (2,11) LCD.PRINT(STRING("FRQ=" LCD.PRINT_DEC(freq) LCD.SPACE(2)
'manage the LCD 'initialize the 'LCD loop 'Go to 1st line 'Power 'print power 'erase over old 'Go to 1st line 'Direction 'print 'erase over old 'Go to 2nd line 'Cycle length 'print 'erase over old 'Go to 2nd line 'Freq 'print 'erase over old
LCD 1st space
data 11 space
data 1st space
data 11 space
data
PUB SetMotorPower dira[BRK..DIR]~~ repeat case pulselen 300..1500: outa[DIR]~ MotPwr:=1500-pulselen 1501..3000: outa[DIR]~~ MotPwr:=pulselen-1500
'These pins control the motor amp 'loop ' 'low values 'Motor dir low 'reset value 'high values 'Motor dir hi 'reset value
PUB RunMotor(Pin)|WaveLength,period ' toggle the output line, set dira[2..4]~~ ' 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 PulseLen:=0 'Start with position=0 WaveLength:=clkfreq/100 ' time for the pulse width to 10 ms period:=cnt 'Store the current value of the counter repeat 'power PWM routine. phsa:=(-MotPwr+70)*50 'S high pulse for Pulsewidth counts period:=period+WaveLength 'Calculate wave length waitcnt(period) 'to end of wave
In Program 28-15, we are waiting for the signals to change as read by the repeat while loops. Compare this scheme with how we read the signals in Program 28-14.
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Other schemes can be constructed as may be necessary. Just modifying the techniques that have been demonstrated here. They will work for most applications. Do not forget that if you want to create a scheme in which the target is fed by the error signal, you have to accommodate any condition that may underflow or overflow the 31 bit position register from time to time.
Some Advanced Considerations You Should Be Aware Of
When you want to run a complicated profile-following program, the technique used is complicated. First, the moves are described in the EIA RS-274 language standard. This is the language used by CNC machines and consists of G codes, M codes, and so on, followed by X, Y, and Z positioning commands. This program is interpreted as a data source that is used to create a series of pulses for as many axes as are needed. These pulses are then fed to each axis in the operating system. I understand that it is necessary to read the database five steps ahead of the step being executed to make sure that the current move will not be affected by a future move owing to tool compensations and move melding, etc. In what I have described in this chapter, we are a long way from being able to do this, and it is beyond the capability of the Propeller in Spin. In other words, you have to create a program that reads the first five lines in the RS-274D data, converts the instructions into pulses, feeds the first set of pulses to the appropriate axes, and then reads the next instruction and executes it, always reading five steps ahead of the execution. It s not simple. However, simpler schemes that serve a one- or two-axis system may well do what we need done. The other hard part is the melding of one instruction into the next. You cannot stop at the end of each instruction in many applications. The machine must keep moving seamlessly. The schemes for doing this are quite complicated and beyond what we need to understand at the beginner s level, but we should be aware of the problem. Something to think about!
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