barcode scanner vb.net textbox USING THE BASIC STAMP in Software

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494 USING THE BASIC STAMP
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states. You should not use this method with mechanical switches since there is no built-in debounce software to eliminate multiple triggers. Like button, you can put multiple Inx statements in a loop in order to scan one or more pins at a time. You can place other code in the loop as well should you need the Basic Stamp to process other parts of the program. The syntax is relatively simple:
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IOPin3 var bit IOPin5 var bit Loop: IOPin3 = In3 IOPin5 = In5 . . .some other code here goto Loop
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You can add additional code to determine what should happen if the IOPin3 and/or IOPin5 variables are a given state. For instance, if you want to execute some code when both pins are 1 (HIGH), you might use the following:
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if IOPin3 = 1 And IOPin5 = 1 then
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Interfacing DC Motors to the Basic Stamp
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The Basic Stamp is ideal for controlling a DC motor that is connected to an H-bridge circuit (see 18, Working with DC Motors ). In the typical H-bridge for a single motor, the Basic Stamp controls the on/off operation of the motor using one pin and the direction using another pin. By using the high and low statements, you can control the motor easily, turning it on and off and reversing its direction. The Basic Stamp code for controlling a DC motor is relatively straightforward: use the high or low statements and indicate which I/O pins you wish to use. For example, suppose your motor H-bridge is connected to pins 0 and 1, with pin 0 used for on/off control and pin 1 used for direction. Note that when pin 0 is low (0), the motor is off and therefore the setting of pin 1 doesn t matter.
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PIN LOW HIGH
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0 (on/off) 1 (direction)
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Motor off Forward
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Motor on Reverse
Here is an example:
low 1 high 0 pause 2000 low 0 pause 100 ' ' ' ' ' set direction to forward turn on motor wait two seconds turn off motor wait 1/10 second
INTERFACING RC SERVOMOTORS TO THE BASIC STAMP
high 1 high 0 pause 2000 low 0
' ' ' '
set direction to reverse turn on motor wait two seconds turn off motor
By using labeled routines and the gosub statement you can define common actions and develop more compact programs:
gosub motorOnFwd gosub waitLong gosub motorOff pause 1 gosub motorOnRev gosub waitShort gosub motorOff end motorOnFwd: low 1 high 0 return motorOnRev: high 1 high 0 return motorOff: low 0 return waitLong: pause 5000 return waitShort: pause 1000 return
Interfacing RC Servo motors to the Basic Stamp
Servo motors for radio-controlled (R/C) cars and airplanes can be easily connected to and controlled with a Basic Stamp. In fact, the code required for operating a servo motor is surprisingly simple, which is one of the aspects of the Basic Stamp that has so endeared it to robot experimenters. Hobby servo motors contain their own interface circuitry, so you don t need an H-bridge or power driver. You may connect any I/O pin of the Basic Stamp directly to the signal input of the servo (see 20, Working with Servo Motors, for more information on servomotors, how they work, and their electronic connections). Keep in mind that the Basic Stamp cannot provide operating power to the servo motor; you must use a separate battery or power supply for it. Otherwise, you run the risk of damaging the Basic Stamp or, at the least, having a program malfunction as the Basic Stamp continually resets itself because of the power sag. Fig. 31.8 shows a good approach for connecting a common RC servo to the Basic Stamp by using a separate battery supply for the servo. Note that the ground connections
496 USING THE BASIC STAMP
of the power supplies for both the Basic Stamp and the servo are connected and that a 1 F tantalum capacitor has been added across the power supply connections for both the Basic Stamp and the servomotor. This helps eliminate the problems caused by the electrical noise that can be generated when the servo turns on and off. If noise poses a problem for you, you can try adding an additional 100 F electrolytic capacitor along with the 1 F tantalum capacitors. To operate the servo you need only a few lines of code, and you can easily control more than one servo at a time. The trick is to use the pulsout statement, which sends a pulse of a specific duration to an I/O pin. Servos need to be refreshed with a pulse from 30 to 60 times each second to maintain their position. By adding a delay (using the pause statement) and a loop your Basic Stamp can move and maintain any position of the servo. The following examples show the basic program, using pin 0 as the control signal line to the servo. It sets the servo in its approximate center position:
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