barcode scanner sdk vb.net PUB Go cognew(MoveStepper,@Stack1) cognew(cog_LCD, @stack2) repeat pcount:=UTIL.read3202_0 + 1 in Software

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PUB Go cognew(MoveStepper,@Stack1) cognew(cog_LCD, @stack2) repeat pcount:=UTIL.read3202_0 + 1
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Pub cog_LCD 'set up and run the LCD LCD.INITIALIZE_LCD 'initialize the LCD repeat 'LCD loop LCD.POSITION (1,1) 'Go to 1st line 1st space LCD.PRINT(STRING("Div Fac=" )) 'Potentiometer position ID LCD.PRINT_DEC(pcount) 'print the pot reading LCD.SPACE(2) 'erase over old data LCD.POSITION (2,1) 'Go to 2nd line 1st space LCD.PRINT(STRING("Mtr Rpm=" )) 'Potentiometer position ID LCD.PRINT_DEC(6*pcount/10) 'print rpm LCD.SPACE(2) 'erase over old data PUB MoveStepper dira[Brk1..Pwm2]~~ pcount:=50 repeat 'BPD DBP outa[Brk1..Pwm2]:=%011_010 waitcnt(clkfreq/(pcount)+cnt) outa[Brk1..Pwm2]:=%100_101 waitcnt(clkfreq/(pcount)+cnt) outa[Brk1..Pwm2]:=%010_010 waitcnt(clkfreq/(pcount)+cnt) outa[Brk1..Pwm2]:=%100_001 waitcnt(clkfreq/(pcount)+cnt)
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B=Brake, P=PWM, D=direction. 'on off ' 'off on ' 'rev off ' 'off rev '
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Here are the important things to notice when you run this program: There is a limit to how fast the motor can be run, and there are some very noticeable harmonics as the motor speed is increased (the exact speeds will depend your motor). You can feel the harmonics and the loss in power as the speed increases if you put two fingers on the motor shaft and squeeze it gently as the motor is running and as you manipulate the potentiometer setting. Next, let s modify the code so that we can control the motor direction with one potentiometer and the motor speed with another. The code is provided in Program 26-5.
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program 26-5 Pot 1 Runs Stepper Backward or Forward, and Pot 2 Controls the Speed
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{{09 Sep 09 Harprit Sandhu StepperFwdRev.spin Propeller Tool Ver 1.2.6 26 Program 5 RUNNING A STEPPER MOTOR FROM A POTENTIOMETER Fwd-Rev control From Pot 1 Speed control from Pot 2 Xavien amplifier lines are Coil #1 Brake is on line P2 PWM is on line P3 Direction is on line P4 Coil #2 Brake is on line P5 Direction is on line P6 PWM is on line P7 }} CON _CLKMODE=XTAL1+ PLL2X _XINFREQ = 5_000_000 Brk1=2 Pwm1=Brk1+1 Dir1=Brk1+2 Dir2=Brk1+3 Brk2=Brk1+4 Pwm2=Brk1+5 divmin = 4 divmax = 4500 VAR long long byte word
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of the propeller of the propeller of the propeller of the propeller of the propeller of the propeller
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'The system clock spec 'line assignments
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stack2[25] stack3[25] Pcount divider
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'these are the variables we will use. 'space for Cog_LCD 'space for Cog MoveStepper 'potentiometer reading. 'divides clkfreq for delays
(continued)
Running a SteppeR MotoR: BipolaR, FouR-WiRe MotoRS
program 26-5 Pot 1 Runs Stepper Backward or Forward, and Pot 2 Controls the Speed (continued)
byte direction long range OBJ LCD : "LCDRoutines4" UTIL : "Utilities"
'stepper direction
'These are the methods we will need 'for the LCD methods 'for general methods 'main Cog 'start a new Cog for the LCD 'this main Cog's main loop 'get the pot reading from the utilities 'get the pot reading for range
PUB Go Cognew(MoveStepper,@Stack3) Cognew(cog_LCD, @stack2) repeat pcount:=UTIL.Read3202_0/16 range:=UTIL.Read3202_1+10 if pcount<128 pcount:=127-pcount direction:=0 else pcount:=pcount-128 direction:=1 if range<divmin range:=divmin if range>divmax range:=divmax divider:=range
'check min 'set min 'check max 'set max 'set divider value
Pub cog_LCD 'set up and run the LCD LCD.INITIALIZE_LCD 'initialize the LCD repeat 'LCD loop LCD.POSITION (1,1) 'Go to 1st line 1st space LCD.PRINT(STRING("Div Fac=" )) 'Potentiometer position ID LCD.PRINT_DEC(pcount) 'print the pot reading LCD.SPACE(2) 'erase over old data LCD.POSITION (2,1) 'Go to 2nd line 1st space LCD.PRINT(STRING("Mtr Rpm=" )) 'Potentiometer position ID LCD.PRINT_DEC(range) 'print range/pot LCD.SPACE(2) 'erase over old data PUB MoveStepper dira[Brk1..Pwm2]~~ outa[Brk1..Pwm2]~~ divider:=500 repeat if direction==0 outa[Brk1..Pwm2]:=%011_010 waitcnt(clkfreq/divider+cnt)
'on '
off (continued)
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program 26-5 Pot 1 Runs Stepper Backward or Forward, and Pot 2 Controls the Speed (continued)
outa[Brk1..Pwm2]:=%100_001 waitcnt(clkfreq/divider+cnt) outa[Brk1..Pwm2]:=%010_010 waitcnt(clkfreq/divider+cnt) outa[Brk1..Pwm2]:=%100_101 waitcnt(clkfreq/divider+cnt) else outa[Brk1..Pwm2]:=%011_010 waitcnt(clkfreq/divider+cnt) outa[Brk1..Pwm2]:=%100_101 waitcnt(clkfreq/divider+cnt) outa[Brk1..Pwm2]:=%010_010 waitcnt(clkfreq/divider+cnt) outa[Brk1..Pwm2]:=%100_001 waitcnt(clkfreq/divider+cnt)
'off ' 'rev ' 'off ' ' 'on ' 'off ' 'rev ' 'off '
rev off on
off on off rev
The next progression in stepper control is to convert the stepper into a servo whose position is tied to the position of the potentiometer. In order to do this, we have to keep track of how far the motor has moved from a known position and then add or subtract from that position value each time the motor makes a move, depending on which way the motor is moving. The pseudocode for doing that is as follows:
Reset variables. Determine potentiometer position. Convert it to a positive or negative move equivalent (absolute position). Move motor in direction indicated until it gets there. Update variables as we make each step move.
Because we are in a parallel-processing environment, we do not have to change the methods for displaying to the LCD and reading the potentiometer, except for some minor adjustments to reflect the slightly changed needs. All the important changes are in the MoveStepper method. The MoveStepper method is now called once for each incremental move (see Program 26-6). If we wanted, we could incorporate this into the main cog, but we will leave it in its own cog for now.
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