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In a self-leveling table, we need to be able to make a correction both in the X and Y directions. In order to make the correction, we need to detect what the error in the position of each axis is. We get this information from a gravity sensor called the Memsic 2125. We will need a servo for each axis. The two axes will be controlled independent of one another. These functions are implemented by assigning the tasks to the cogs, as follows:
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Read the X and Y errors from the sensor. Make an incremental correction to each axis if there is an error. Display the status of the table on the LCD. Add the reading of two potentiometers to trim the exact level position of the table.
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The software developed here could be used to stabilize a camera platform or to provide automatic leveling for a model aircraft.
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In general, every application breaks the tasks to be accomplished into a number of fairly straightforward blocks that are simple to create, and it assigns them to individual cogs. Of course, calculations will also have to be made, and pins will have to be set up to perform the necessary I/O. However, we will not discuss these tasks here. They are all covered in Part III of the book, where these ideas are turned into actual working applications. The coverage may not be exactly as listed in this chapter, but the general ideas are preserved.
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Part II
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Although the idea is losing currency in today s academic world, we learn best by doing. Learning works best when the hands, the eyes, and the brain work together to reinforce one another. With this in mind, we will proceed with undertaking a number of progressively difficult experiments that lend themselves to implementation on the Propeller system. In this part of the book, we will develop the basic techniques necessary to use the Propeller to address any number of real-world situations. In Part III of the book, we will use what we have learned here to create some real-world devices. In this part of the book, we are mastering the building blocks.
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generaL dIscussIOn Of Input/Output
This is a general discussion of how we will proceed with learning the basics of using the Propeller so you will understand the how and why of the experiments and thus get the most out of them. The experiments we will undertake are designed to give you the hands-on experience you need to get familiar with the Propeller chip. As such, I have tried to make them as short and as easy to understand as possible. Within the various experiments, I tried to incorporate as many of the basic Spin language techniques as I could, to make you more comfortable with the software environment. As was stated previously, the Assembly language programming facility provided for the Propeller has not been used in any of the programs except for the prewritten code for reading an optical encoder used in 28 as a part of the DC motor experiment. This is a book specifically for beginners, and PASM is really too difficult to get into at this stage. Besides, you really need to have a pretty good feel for binary mathematics and Boolean algebra before you can use PASM because a lot of it has to do with manipulating bits and bytes, and a foundation is required before it can be used. (I considered the possibility of writing a beginner s book on PASM, but decided it was not really a subject for beginners!) The experiments start off with the most rudimentary of all experiments: reading an input line. Because we have to have a way to verify that we actually read the input, we will turn an LED on if and only if the input line has been grounded. This experiment contains the code segments needed for an absolutely minimal program. In some ways, this is about as short an input/output program as one can write for the Propeller. This is the prototypical Spin program, and all programs are basically variations of this program. We will build on it from here on out.
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