barcode scanner sdk vb.net program 27-1 Program for Single-Axis Correction to Horizon Table in Software

Generator QR Code in Software program 27-1 Program for Single-Axis Correction to Horizon Table

program 27-1 Program for Single-Axis Correction to Horizon Table
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{{04 Jan 10 Harprit Sandhu MemsicTable.spin Propeller Tool Ver 1.2.6 Program 27-1 This program keeps the table horizontal in one direction. Both servos are connected but one is implemented. It uses a Memsic 2125 sensor and two R/C servos. COG_LCD manages the LCD output COG_0 measures the pulse COG_1 manages the servo }} (continued)
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program 27-1
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Program for Single-Axis Correction to Horizon Table (continued)
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CON _CLKMODE=XTAL1+ PLL2X _XINFREQ = 5_000_000 Xaxis Yaxis = 26 = 27 = = = = 19 chipSel+1 chipSel+2 chipSel+3
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'The system clock spec 'crystal frequency 'from Memsic 'for speaker 'for pots ' ' ' 'to servo signal 'to servo2 signal
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chipSel chipClk chipDout chipDin servo servo2 VAR long long long long long long long long long
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= 23 = 24
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Stack[50] Stack1[50] startWave endPulse endWave PulseLen waveLen frequency servoPos
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'FOR LCD COG 'FOR SERVO COG ' ' ' ' ' ' ' 'These are the Objects we will need 'for controlling the LCD 'for general methods collection 'Cog_0 'starting up Cog LCD 'starting up Cog OUT 'Make pin input 'Set up the control read loop 'wait for line 1 to go hi. See Manual 'wait for line 1 to go low. Manual 'read the timer count 'wait for line 1 to go hi. See Manual 'read the timer count for second time 'wait for line 1 to go low. Manual. 'end of wave cycle 'figure the pulse 'figure the wave Len 'figure the freq (continued)
OBJ LCD : "LCDRoutines4" UTIL : "Utilities"
PUB go cognew (COG_LCD, @Stack) cognew (SERVO1, @Stack1) DIRA[25]~ repeat repeat while ina[xaxis]==1 repeat while ina[xaxis]==0 startWave:=cnt repeat while ina[xaxis]==1 endPulse:=cnt repeat while ina[xaxis]==0 endWave:=cnt PulseLen:=endPulse-startWave waveLen:=endWave-startWave frequency:=clkfreq/waveLen
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program 27-1
Program for Single-Axis Correction to Horizon Table (continued)
PRI COG_LCD LCD.INITIALIZE_LCD repeat LCD.POSITION (1,1) LCD.PRINT(String("PL=")) LCD.PRINT_DEC((pulselen)) LCD.SPACE(2) LCD.PRINT_DEC((servoPos)) LCD.SPACE(2) LCD.POSITION (2,1) LCD.PRINT(String("WL=")) LCD.PRINT_DEC((wavelen)) LCD.SPACE(2) LCD.POSITION (2,11) LCD.PRINT(String("FR=")) LCD.PRINT_DEC((frequency)) LCD.SPACE(2)
'This is running in the new cog 'set up the LCD 'LCD routine loop 'Position LCD cursor 'Pulse 'print data 'write over old data 'print servo position 'write over old data 'Position LCD cursor 'Wave Length 'print value 'write over old data 'Position LCD cursor 'Frequency 'print value 'write over old data
PRI SERVO1 'servo positioning routine dira[servo]~~ 'set pin direction servoPos:=15000 'initial position repeat case pulseLen 'based on servo position 0..50700:servoPos:=servoPos+200 'move positive 50701..50800: 'no move needed 50801..100_000:servoPos:=servoPos-200 'move negative servoPos #>=6500 'limit to 6500 servoPos <#=22500 'limit to 22500 outa[servo]~~ 'send out servo pulse waitcnt(servoPos+cnt) 'pulse length outa[servo]~ 'end pulse waitcnt(clkfreq/60+cnt) '60 per second pause.
In this program, the 200 in the SERVO1 method determines the sensitivity of the response. It is multiplying what is essentially the error signal. Try changing its value to 500 and see what happens. Try 100 and then try 10. The at-rest (horizontal) reading from the Memsic on my particular sensor is 50700. There may be slight variations in the value from sensor to sensor, so we may want to add a potentiometer to the circuit wiring so we can make an adjustment (say, to always bring this value to 50700). On the servo I was using, the center position was 1320 microseconds based on how the horn was attached to the servo. The theoretical value for this is usually stated as 1,520 microseconds (by Futaba). Each servo can be expected to be slightly different, and the mounting position of the servo arm/horn to the servo also affects this number. Here again, we could provide a trim potentiometer to fine-tune this value.
diScuSSion
The preceding exercise demonstrates the relative ease with which we can make a fairly sophisticated instrument, such as an artificial horizon, when we use a Propeller microcontroller. This instrument could easily be modified to show how many G-forces one went through as one turned a corner in a car. In this case, the sensing axis of the sensor would have to be placed left to right across the automobile and a multiplier would have to be adjusted to give a reasonable display on the LCD.
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