barcode scanner sdk vb.net program 26-9 a Potentiometer Move a Motor Back and Forth with the Extent of Motion Controlled by in Software

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program 26-9 a Potentiometer Move a Motor Back and Forth with the Extent of Motion Controlled by
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{{24 Sep 09 Harprit Sandhu StepFromPot.spin Propeller Tool Ver. 1.2.6 26 Program 9 Running a stepper motor from a potentiometer Moves back and forth a variable distance Max speed fixed but can be changed at divmax constant Control distance moved with the potentiometer. Finished program (continued)
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Running a SteppeR MotoR: BipolaR, FouR-WiRe MotoRS
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program 26-9 Move a Motor Back and Forth with the Extent of Motion Controlled by a Potentiometer (continued)
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This program allows you to control the distance moved motor from a potentiometer as it moves back and forth The number of steps it goes up and down is determined and is initially set for a maximum move of ~100 turns with 100 steps per revolution (which I was using). Display shows the divider value used and Pot reading Xavien amplifier lines Coil #1 Brake is on line PWM is on line Direction is on line Coil #2 Brake is on line Direction is on line PWM is on line
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by a STEPPER automatically by the pot for a motor
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P2 of the propeller P3 of the propeller P4 of the propeller P5 of the Propeller P6 of the Propeller P7 of the propeller
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}} CON _CLKMODE=XTAL1+ PLL2X 'The _XINFREQ =5_000_000 divmax =8000 divstart =200 divDecrement =20 VAR long long word word
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system clock spec 'the higher this is the faster the speed 'starting speed 'rate at which speed changes
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stack1[35] stack2[35] 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 'These are the methods we will need 'for the LCD methods 'for general methods 'main Cog 'start a new Cog for the LCD 'start new Cog for stepper moves 'this is main Cogs main loop 'get the pot reading from the utilities 'set up and run the LCD 'initialize the LCD 'LCD loop 'Go to 1st line 1st space 'dividing value
OBJ LCD : "LCDRoutines4" UTIL : "Utilities"
PUB Go Cognew(cog_LCD, @stack1) Cognew(MoveStepper,@Stack2) repeat pcount:=UTIL.read3202_0/4+1 PRI Cog_LCD LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(STRING("Div =" ))
(continued)
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program 26-9 Move a Motor Back and Forth with the Extent of Motion Controlled by a Potentiometer (continued)
LCD.PRINT_DEC(divider) LCD.SPACE(5) LCD.POSITION (2,1) LCD.PRINT(STRING("Dist=" )) LCD.PRINT_DEC(pcount) LCD.SPACE(5)
'print value 'erase over old data 'Go to 2nd line 1st space 'Distance moved 'print value 'erase over old data
PRI MoveStepper ' dira[2..7]~~ 'all outputs outa[2..7]~~ 'all high divider:=divstart 'set starting point for div repeat 'outer loop repeat pcount 'move loop, forward divider:=divider*divstart/(divstart-divDecrement) if divider>divmax 'check div divider:=divmax 'clamp div outa[2..7]:=%011_010 'on off waitcnt(clkfreq/divider+cnt) ' outa[2..7]:=%100_101 'off on waitcnt(clkfreq/divider+cnt) ' outa[2..7]:=%010_010 'rev off waitcnt(clkfreq/divider+cnt) ' outa[2..7]:=%100_001 'off rev waitcnt(clkfreq/divider+cnt) ' divider:=divstart 'reset divider waitcnt(clkfreq/8+cnt) repeat pcount 'move loop, backwards divider:=divider*divstart/(divstart-divDecrement) if divider>divmax 'check div divider:=divmax 'clamp div outa[2..7]:=%011_010 'on off waitcnt(clkfreq/divider+cnt) ' outa[2..7]:=%100_001 'off on waitcnt(clkfreq/divider+cnt) ' outa[2..7]:=%010_010 'rev off waitcnt(clkfreq/divider+cnt) ' outa[2..7]:=%100_101 'off rev waitcnt(clkfreq/divider+cnt) divider:=divstart 'reset divider waitcnt(clkfreq/8+cnt)
The techniques that have been demonstrated can be combined with one another to provide the stepper control you would need for almost any application. The keys are proper motor selection and proper ramping. And making sure the system never stalls or slips.
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The simplest of construction is adequate for our purposes. The important thing is that you actually build a table. My table was made with cardboard and hot glue and bamboo skewers for the bearing shafts. In this project, we will use the Memsic 2125 (which was covered in 18) to build a table that stays horizontal while the base of the table is disturbed (within about 20 degrees) relative to the horizon.
Figure 27-1 An artificial horizon a basic unadorned cardboard horizontal table with two plastic levels and a Memsic 2125 sensor
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Sensor Specifications
Here is more detailed information about the Memsic accelerometer (from Parallax): The Memsic 2125 is a low-cost, dual-axis thermal accelerometer capable of measuring dynamic acceleration (vibration) and static acceleration (gravity) with a range of 2 g. For integration into existing applications, the Memsic 2125 is electrically compatible with other popular accelerometers. Key features of the Memsic 2125 include the following:
Measure 0 to 2 g on either axis; less than 1 mg resolution Fully temperature compensated over 0 C to 70 C range Simple, pulse output of G-force for X and Y axes Analog output of temperature (T-Out pin) Low current operation: less than 4 mA at 5 VDC
A sampling of possible BASIC Stamp module applications with the Memsic 2125 include:
Dual-axis tilt sensing for autonomous robotics applications Single-axis rotational position sensing Movement/lack-of-movement sensing for alarm systems R/C hobby projects such as autopilots
Memsic (www.memsic.com) provides the 2125 in a surface-mount format. Parallax mounts the circuit on a PC board providing all I/O connections, so it can easily be inserted on a breadboard or through-hole prototype area. The actuators we use to move the table for horizontal position correction will be two radio control hobby servos.
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