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We can mount the sensor to correct the tilt in two locations: We can mount the sensor on the base that is being tilted, or we can mount the sensor on the actual table that we want to keep level. If we mount the sensor on the base we will be tilting, we get error signals that we can interpret to make corrections to the target table position. We may have to create a lookup table if there is any nonlinearity either in the response of the sensor or in the mechanical linkages that connect the base to the top. In this case, the signal that we detect is absolutely related to the position of the base, meaning that we are reading the actual error at the base. What we do with the signal is up to us, and how we design the linkages to level the table is up to us. This is not the best method to use in most cases, but this may be the only way available to us in some situations.
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If we mount the sensor to the table top itself, the signal we get will be a measure of how far the table has tilted. We can make the table come back to horizontal if we keep making a correction until the table becomes horizontal, and we stop when the error signal goes to zero. It is a process integrated over time. (If we wanted to know how large the correction was, we would have to keep track of how far we had moved the table to get it back to horizontal, but we do not need this information in an integrating system.) We could also relate the error signal directly to the amount of correction needed and bring the table back to level in that way, but the bookkeeping required to do that is complicated. Simply stated, it is better to mount the detector to the actual tabletop because that is the surface we are interested in keeping level. As a general rule, the closer the sensor is to the actual error-signal-creating element, the easier it will be to know what the error signal means and the easier it will be to make a correction.
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The system we will create needs to read two inputs from the sensor and output two outputs, one to each servo. The inputs are in the form of two pulse widths that we will read from the X-Out and Y-Out connectors of the sensor, and our outputs from the Propeller are the two 1- to 2-millisecond pulses we will send to the radio control hobby servos 60 times a second. See Figure 27-2 for wiring details.
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note There are four wires between the sensor and the system, and both sides of Memsic must be grounded.
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We investigated the Memsic in 18. Review that chapter now if you need to. We will base our software in this chapter on the software created in 18, with additions and modifications. The Memsic puts out a fixed-frequency pulse with a variable duty cycle. On my sensor, I received a wave length of almost exactly 100,000 cycles, which is a frequency of
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Figure 27-2 Wiring diagram for the table: connecting to the Memsic accelerometer to two servos
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100 Hz. At level, the duty cycle of the PWM signal was 50%, or 50,000 cycles. (As always, my system was running at 10 MHz.) The Futaba-compatible servos we are using require a center position pulse of 1,520 microseconds bracketed with a range of + or 750 microseconds (you have to check this on your specific servos). At 10 MHz, this is 15,200 + or 7,500 cycles. Here s the equation for converting what we read into what the servos need: Output pulse length = 1,520 + (reading 50,000)/10 microseconds We can implement these conditions with the following pseudocode for the operation of one of the axes on the table (you can expand it for full two-axis operation when you build your table):
Initialize the system. Define all parameters and lines to be used. Read the X axis on the Memsic sensor. Compare it to the horizontal position. CASE If it is positive, move in the negative direction one step. If there is no error, do nothing. If it is negative, move in the positive direction one step. Repeat to read sensor. advanced options If you want to be able to adjust the position of the table with
respect to the true horizon, you can add two potentiometers to the hardware to act as final correction inputs. You may want to use the LCD to provide information about the conditions in the system during development and later to annunciate the system status.
The software that implements single-axis operation defined by the pseudocode is described in Program 27-1.
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