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stack [50] stack2[50] pcount arrow
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OBJ LCD : "LCDRoutines4" UTIL : "Utilities"
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PUB Go dira[BRK..DIR]~~ outa[BRK..DIR]:=%000 cognew(MoveMotor(6),@Stack)
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cognew(cog_two, @stack2) repeat pcount:=UTIL.Read3202_0 if pcount<2047
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Program 25-3
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Comprehensive DC Motor Control Program (continued)
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outa[DIR]~ arrow:=0 pcount:=(2047-pcount)*2 else outa[DIR]~~ arrow:=1 pcount:=(pcount-2047)*2 if pcount<PotMin pcount:=Potmin if pcount>PotMax pcount:=Potmax PulsWidth:=pcount*24 PUB cog_two LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("Pos=")) LCD.PRINT_DEC(pulsWidth/24) LCD.SPACE(2) LCD.POSITION (1,11) LCD.PRINT(STRING("Dir=")) LCD.PRINT_DEC(arrow) LCD.SPACE(2)
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'forward direction set 'direction arrow 'set center and double 'or 'reverse direction 'direction arrow 'set center and double5 'check Min value 'set Min value 'check Max value 'check Max value 'multiply reading to get 4095 '(10000/4096=24) '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 data 'Go to 1st line 1st space 'Potentiometer position ID 'print the pot reading 'erase over old data
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PUB MoveMotor(Pin)|WaveLength,period ' 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" to run 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) PulsWidth:=1000 'Start with position=0 (until the position 'value is changed by another cog) WaveLength:=clkfreq/100 'Set the time for the pulse width to 10 ms period:=cnt 'Store the current value of the system counter repeat 'line toggling routine. phsa:=-PulsWidth 'Send a high pulse for "position" number of 'clock cycles. NOTE minus sign on PulseWidth. period:=period+WaveLength 'Calculate system clock's value 'at the end of this cycle's period waitcnt(period) 'Wait for the system counter to reach the '"period" value (end of cycle)
Controlling a Small DC motor
If you change the sign of FRQA and PHSA, you change the direction of the pulse from a going-high to a going-low pulse. In Program 25-3, the potentiometer reading is to be handled in two ways, depending on whether the value is below 2,048 or above 2,048, and the direction bit is set accordingly. Maximum and minimum speeds are set by clamping the lowest and highest values. These values are set to 1,000 and 40 presently and do not inhibit the speed of the motor as programmed. Modify the program to set these values to 4,000 and 400, respectively, to see what happens to the motors speed. Program 25-3 provides a comprehensive way to control a small DC motor with a Propeller chip. The program can be modified to serve the exact needs of the application you have in mind with ease and can be used as the basis for developing more sophisticated control schemes. The input does not have to be a potentiometer any variable you can provide can be used as the controlling input. Any function that can be represented as a viable variable can be used. The point where the motor reverses can be modified, as can the rate of response of the system. Adding other decisionmaking algorithms to the program can lead to still further sophistication. More importantly, a program like this does not have to control a motor at all any task needing a PWM signal based on a variable can now be managed with ease and flexibility, and the response can be tailored to the needs of the task.
Figure 25-4 My desktop layout for the DC motor experiments
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Figure 25-5 My DC motor with encoder
Figure 25-4 shows my layout of the experiments I performed to write this chapter. I did not sanitize the setting to encourage you to work with what you have. That s what it looked like when I was done! The motor I used is shown in Figure 25-5. The encoder signals were not used in this experiment but will be used later. If you want to see what is happening in the amplifier, put the oscilloscope on the PWM line.
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