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The formula to make the conversion is Cycles = (PotValue * (22,500 7,500)/4,095) + 7,500 These are the theoretical values for 10 MHz; you will have to tune this for your system once you get the program running. When we incorporate this into our Propeller program, we get the code segment shown in Program 24-1.
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Program 24-1 Program Segment for Servo Control Conversion
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outa[ServoLine]~ waitcnt((166,667-(PotValue * 15000 / 4095) + 7500 + cnt) outa[ServoLine]~~ waitcnt((PotValue * 15000 / 4095))+ 7500 + cnt)
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(For my particular installation, I had to use the slightly modified code to get proper servo operation. This was a function of the properties of the servo I was using.) It is almost certain that you, too, will need to modify your code to match the response of the servo you are using. Program 24-2 provides the complete listing for a program to position a servo from a potentiometer. Use this program to relate potentiometer values to actual servo positions.
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Program 24-2 A Standalone Program for Determining the Servo Pulse Length That Matches a Specific Servo Position
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{{ 06 Sep 09 Harprit Sandhu RC_ServoPosition.spin Propeller Tool Version 1.2.6 24 Program 02 READING A SERVO'S POSITION uses pin 23
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This program allows you to tie the signal sent to an R/C servo to the position that it goes to. Connections White P23 signal from Prop Red 5 volts Black ground }} CON _CLKMODE=XTAL1+ PLL2X _XINFREQ = 5_000_000 outPin =23
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'The system clock spec 'line the servo is on (continued)
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Controlling r/C Hobby ServoS
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Program 24-2 A Standalone Program for Determining the Servo Pulse Length That Matches a Specific Servo Position (continued)
VAR long ServoPos
long stack [15] long stack2[50] long pcount OBJ LCD : "LCDRoutines4" UTIL : "Utilities"
'these are the variables we will use. 'The program will read this variable from 'the main Hub RAM to determine the 'servo signal's high pulse duration 'space for Cog for LCD 'space for Move Motor Cog ' 'Methods we will need for our calls 'for the LCD methods 'for general methods, pot
PUB Go 'main cog dira[outPin]~~ 'set direction for amplifier cognew(MoveMotor(outPin),@Stack) 'new cog and run the MoveMotor method 'on it and output pulses on Pin 23 'The new cog continuously reads 'the "position" variable 'by the example Spin code below cognew(cog_two, @stack2) 'start new cog for the LCD repeat 'this is the Cog's main loop pcount:=UTIL.Read3202_0 'get the pot reading from the utilities ServoPos:=7200+pcount*4 'calculate position count Pub cog_two LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("Pot Pos=")) LCD.PRINT_DEC(Pcount) LCD.SPACE(2) 'set up and run the LCD 'initialize the LCD 'LCD loop 'Go to 1st line 1st space 'Potentiometer position ID 'print the pot reading 'erase over old text
PUB MoveMotor(Pin)|LowTime,period 'method to toggle the output line, set 'up first dira[Pin]~~ 'Set the direction of "Pin" to be an output ctra[30..26]:=%00100 'Set this cog's "A Counter" in single 'ended NCO/PWM mode (where frqa always 'accumulates to phsa and the Apin output 'state is bit 31 of the phsa value) ctra[5..0]:=Pin 'Set the "A pin" of this cog's "A Counter" 'to be "Pin" frqa:=1 'Set this counter's frqa value to 1 (so 1 'will be added to phsa on each clock pulse) ServoPos:=0 'Start with position=0 (until the position 'value is changed by another cog) (continued)
Servo Control
Program 24-2 A Standalone Program for Determining the Servo Pulse Length That Matches a Specific Servo Position (continued)
LowTime:=clkfreq/60 period:=cnt repeat phsa:=-ServoPos period:=period+LowTime waitcnt(period)
'Set the time that the pulse will be low 'to 16ms = 1/60 secs 'Store current value of the system counter 'line toggling routine. 'Send a high pulse for "position" number of 'clock cycles. Note negative sign 'Calculate what system clock's value will 'be at the end of this cycle's period 'Wait for the system counter to reach the '"period" value (end of cycle)
We can use Program 24-2 to determine the position of a servo for use in real-world situations. It allows us to tie the reading we get from the potentiometer to the actual servo position we observe for any particular servo in our experimental setup. In this program, we have converted the position of a potentiometer to a position of the R/C servo. In our particular case, the potentiometer was read as a value between 0 and 4,095 and the servo arm moved approximately 180 degrees. For most applications, only about 90 degrees of movement of the servo is useful. This being the case, you may want to modify the software so that the entire 4,095 values read from the potentiometer are mapped to a 90-degree movement. This will also give you finer control within the 90-degree movement.
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