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472 COMPUTER CONTROL VIA PC PRINTER PORT
OUT 888, 0
To activate just motor 1, choose a decimal number where only the first bit changes. There is only one number that meets that criterion: it is decimal 1, or 0001 (we will ignore bits 5 through 8 for this discussion since they are not in use). So type:
OUT 888, 1
Run this program; motor 1 turns on. To turn it off, send a decimal 0 to the port, as described earlier. You use the same technique to turn on motor 2 or both motors 1 and 2 at the same time. To turn on both motors at the same time, for example, look for the binary bit pattern where the first and second bits are 1 (it s decimal 3), and output this value to the port.
Controlling a Two-wheel Robot
Controlling the common two-wheeled robot is a simple matter of sending the right bit patterns to the parallel port. Note that binary 0000 (decimal 0) turns off both motors, so the robot stops. Changing the binary bit pattern activates the right or left motor and controls its direction. Table 30.8 lists the most common bit patterns you will use. When writing the control program for your robot you may find it necessary to insert short pauses between each state change (motor 1 forward and reverse, for example). You can create simple pauses in Basic with do nothing FOR NEXT loops as shown in the testing program in Listing 30.2. The program first resets all bits to 0, then sleeps (waits) one second. The program then goes through a timed routine turning on different motors and reversing their direction: forward, reverse. Note that do-nothing FOR NEXT loops are processor-speed dependent. Adjust the value of one or both loops to control the actual delay for your computer. You may also wish to use the SLEEP statement, which inserts a delay for the number of seconds you specify. Other versions of Basic provide for additional time-delay commands. Most Basic programming environments, such as Microsoft QBasic (QuickBasic), allow you to terminate
TABLE 30.8 BINARY
COMMON BIT PATTERNS FOR CONTROLLING TWO MOTORS. DECIMAL FUNCTION
0000 0011 1111 0010 0001 0111 1011
0 3 15 2 1 7 11
All stop Forward Reverse Right turn Left turn Hard right turn (clockwise spin) Hard left turn (counterclockwise spin)
CONTROLLING MORE THAN EIGHT DATA LINES 473
the program at any time by pressing Ctrl Break (break is the Pause/Break key, usually located near the numeric keypad).
LISTING 30.2.
DECLARE SUB DelaySub () BaseAddress = 888 DataPort = BaseAddress OUT DataPort, SLEEP 1 OUT DataPort, DelaySub OUT DataPort, DelaySub OUT DataPort, DelaySub OUT DataPort, SLEEP OUT DataPort, 0 3 15 2 1 2 0
' Base address of parallel port ' Address of data register
SUB DelaySub ' adjust delay as necessary FOR DELAY = 1 TO 100000: NEXT DELAY END SUB
Controlling More Than Eight Data Lines
As shown in the previous examples each motor requires two bits. Therefore, one parallel port can control the action and direction of four motors. However, you can actually control more motors (or other devices) by using a number of simple schemes and without resorting to using additional parallel ports. The most straightforward method for expanding a single parallel port is to make use of some or all of the data lines of the control register. You send bits to these control lines in exactly the same way as you send bits to the data output lines, except that you use a different address. For the standard LPT1: port at decimal 888, the decimal address for the control lines is 890. Only the first five bits of the address are used in the port, which means the decimal numbers you use will be between 0 and 31. Let s say you are using bit 2 of the control address (in a printer application, bit 2 is used to initialize the printer). You turn that bit on and no others by entering the following program line:
OUT 890, 4
Note that you can output a binary pattern to address 890, and it will not affect the data output lines.
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