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{{10 Sep 09 Harprit Sandhu StepBackForthPot.spin Propeller Tool Ver 1.2.6 26 Program 8
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program 26-8 Move a Stepper Motor Back and Forth with Distance and Motor Speed Controlled by Potentiometers (continued)
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RUNNING A STEPPER MOTOR FROM A POTENTIOMETER MOVES BACK AND FORTH Pot 1 controls distance Pot 2 controls max speed. 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 divstt = 200 VAR long long word word word same as before 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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'starting speed 'these are the variables we will use. 'space for Cog_LCD 'space for Cog MoveStepper 'potentiometer reading. 'divides clkfreq for delays ' 'These are the methods we will need 'for the LCD methods 'for general methods
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stack2[25] stack3[25] Pcount divider divmax
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OBJ LCD : "LCDRoutines4" UTIL : "Utilities"
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PUB Go 'main Cog Cognew(MoveStepper,@Stack3) 'start new Cog for stepper moves Cognew(cog_LCD, @stack2) 'start a new Cog for the LCD repeat 'this main Cog's main loop pcount:=UTIL.Read3202_0/4 ' divmax:=100*UTIL.Read3202_1*2/82+2 'max is 10000 (continued)
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Running a SteppeR MotoR: BipolaR, FouR-WiRe MotoRS
program 26-8 Move a Stepper Motor Back and Forth with Distance and Motor Speed Controlled by Potentiometers (continued)
Pub Cog_LCD LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("Div =" )) LCD.PRINT_DEC(divider) LCD.SPACE(2) LCD.POSITION (1,12) LCD.PRINT_DEC(divmax) LCD.SPACE(2) LCD.POSITION (2,1) LCD.PRINT(STRING("Dist=" )) LCD.PRINT_DEC(pcount) LCD.SPACE(2) LCD.POSITION (2,12) LCD.PRINT(STRING("Max")) 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 data 'Go to 1st line 12th space 'max division 'erase over old data 'Go to 2nd line 1st space 'Potentiometer position ID 'print the pot reading 'erase over old data 'Go to 2nd line 12th space 'max division 'erase over old data
PUB MoveStepper dira[BRK1..PWM2]~~ outa[BRK1..PWM2]~~ divider:=divstt repeat repeat pcount divider:=divider*divstt/(divstt-10) if divider>divmax divider:=divmax 'BPD DBP B=Brake,P=PWM,D=direction. outa[BRK1..PWM2]:=%011_010 'on off waitcnt(clkfreq/divider+cnt) ' outa[BRK1..PWM2]:=%100_101 'off on waitcnt(clkfreq/divider+cnt) ' outa[BRK1..PWM2]:=%010_010 'rev off waitcnt(clkfreq/divider+cnt) ' outa[BRK1..PWM2]:=%100_001 'off rev waitcnt(clkfreq/divider+cnt) ' divider:=divstt waitcnt(clkfreq/3+cnt) repeat pcount divider:=divider*divstt/(divstt-10) if divider>divmax divider:=divmax outa[BRK1..PWM2]:=%011_010 waitcnt(clkfreq/divider+cnt) ' outa[BRK1..PWM2]:=%100_001
off (continued)
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program 26-8 Move a Stepper Motor Back and Forth with Distance and Motor Speed Controlled by Potentiometers (continued)
waitcnt(clkfreq/divider+cnt) outa[BRK1..PWM2]:=%010_010 waitcnt(clkfreq/divider+cnt) outa[BRK1..PWM2]:=%100_101 waitcnt(clkfreq/divider+cnt) ' divider:=divstt waitcnt(clkfreq/3+cnt)
' 'rev off ' 'off rev
We discover that one more important thing needs to be controlled. When the motor stops, it has to either hold its position or be allowed to freewheel. The last instruction has to be designed to manage this aspect of the motor operation in a way that will not overheat the motor over a long period of time. One way would be to reduce the current to the motor when on standby, with a separate method, using a suitable PWM technique that reduces the energy supplied to the motor to an acceptable level.
a Fine point about Stepper Control The motor-powering scheme follows a 1, 2, 3, 4 sequence. When a motor stops, it must restart with a valid next sequence. For example, when the motor stops after executing the fourth sequence, the next move must be a 3 or a 1 sequence; it cannot be a 2 sequence. A 2 is not valid after 4. If this scheme is not followed, the motor can lose counts and the first move can be unpredictable or hesitant. You can see this problem in Program 26-8 if you watch carefully. See if you can fix it.
By now we should have a reasonably good feel for what it takes to control a stepper motor with a Propeller chip and the Spin language. Let s go ahead and put all we have learned into a program that lets us control the distance moved by the motor with a potentiometer. As before, the maximum speed for each move is specified by the divmax constant at the top of the program. Program 26-9 is similar to what we developed in Program 26-8 and is optimized for the stepper motor I used. You will have to finetune this program for your particular motor and load.
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