barcode scanner sdk vb.net figure 23-7 using the Solarbotics two-axis amplifier in Software

Encoder QR in Software figure 23-7 using the Solarbotics two-axis amplifier

figure 23-7 using the Solarbotics two-axis amplifier
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detAiled use iNforMAtioN for tHe solArbotiCs two-Axis AMplifier
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figure 23-8 the xavien single-axis amplifier
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figure 23-9 Wiring connections for xavien single-axis amplifier
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Controlling r/C Hobby ServoS
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The easiest way to control a simple remote operation is to use a hobby radio control transmitter, receiver, and servo to do the job. In this discussion we will consider the older 27 MHz systems as opposed to the newer GHz frequencies and the infrared systems. The older system is much more amenable to what we are doing with a Propeller running at 10 MHz and will be easier for us beginners. Of all the various types of motors we are considering in this book, those that can be controlled by an R/C hobby radio transmitter and receiver are the simplest to use. We can readily emulate the signals that these servos need with the Propeller chip. Once the signal from the transmitter has been received and brought into the Propeller chip, we can pretty much do what we want with it before we send it out to the servo. The servo motors have integral gearboxes built into them to allow the output shaft to move about 180 degrees from end to end. An internal potentiometer attached to the output shaft allows the system to read the position of the output shaft. Control is affected by sending the motor a signal pulse of a required duration of about 1.5 microseconds (about 60 times a second). Circuitry internal to the servo converts this to the power needed to position the servo. R/C servos can be positioned to one part in 256 if an 8-bit variable is used to control the width of the pulse sent to them, or to one part in 4,096 if a 12-bit variable is used. For most purposes served by these small servos, the 8-bit signal is more than adequate for the job. Also, an 8-bit variable can be read into 1 byte, as compared to the 2 bytes needed for a 12-bit variable. In our particular case, we will be reading the control potentiometer to a resolution of 12 bits (with the MCP3202). Keep in mind that we can divide the value by 16 to get the 8-bit resolution when we need to.
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Controlling r/C Hobby ServoS
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Servo Control
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The signals that come into the radio receiver are available to us at two points. One point is internal to the receiver, where the raw communications sent by the transmitter are available before they have been decoded. These signals cannot be identified or observed with ease. The other point involves the signal we get at each servo after the signal has been processed by the receiver and converted to the pulsed signal that R/C servos need to control them. A typical model aircraft servo is shown in Figure 24-1. We will consider duplicating the servo signals after they have left the receiver and are ready to be fed to the servos. The control being implemented is the position of the servo motor. The control signal that we need to create needs to have a pulse width of 1,500 plus or minus 750 microseconds (from 750 to 2250 microseconds). This signal has to be repeated 60 times a second. The signal we create has to be mapped to whatever motor control we are interested in. In our case, the input is from a potentiometer providing a value of from 0 to 4,095, which is used to move the servo through 180 degrees. Whereas the potentiometer reading goes from 0 to 4,095, the control signal pulse width has to go from 750 to 2,250 microseconds.
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Model AirCrAft ServoS
A stated before, model aircraft servos need to have a pulsed signal sent to them approximately 60 times a second on a regular basis to accurately maintain their commanded position. If this is not done, the operation of the motors becomes jerky and irregular.
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