barcode scanner vb.net textbox OPERATING MODIFIED SERVOS 531 in Software

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OPERATING MODIFIED SERVOS 531
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Sub SoftLeftBack() S1 = 63 S2 = CenterPos End Sub Sub SoftLeftForward() S1 = CenterPos S2 = 0 End Sub
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We attached batteries and OOPic to the top of the robot using double-sided tape. Power to the OOPic is provided by a 9-volt battery; power to both servos is provided by a 6-volt pack of AAs. Note that I used a wire-wrap board as a terminal bus, and standard .100 -center connectors instead of hard-soldering any wiring to the various components. This makes it easier to test the robot and possibly add to it at a later date.
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The program in Listing 33.2 is a modified version of the program in Listing 33.1. Its main difference, other than employing two oServo objects instead of one, is that the center position is used to turn the motor off. Values greater than this center position cause the servos to rotate in one direction; values less than the center position cause the servos to rotate in the opposite direction. The servos are made to turn one direction when their Value property is 0 and the other direction when their Value property is 63. Note that in Listing 33.2 the normal direction of travel for servo 2 (S2) is reversed from S1, with the following statement:
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S2.InvertOut = cvTrue
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This is handy because in the two-wheeled robot the servos are mounted on opposite sides, and therefore one motor must operate in mirror image to the other. That is, one must turn clockwise while the other turns counterclockwise to move the robot forward or backward. Without the InvertOut property, you d have to set the Value property of one servo to 0 and the other to 63 to maintain proper forward or backward motion. Not shown in Listing 33.2 is a useful feature you may want to implement: values very close to the center position ( /- about five steps) will cause the servos to slow down by a proportional amount. For example, if the center position is 31, then a value of 32 for S1 or S2 may cause that servo to rotate clockwise very slowly. Higher values will modestly increase the speed in the same direction of travel. Conversely, a value of 30 for the S1 or S2 object may cause the servo to rotate counterclockwise very slowly. A value of 29 would make the motor go a little faster, and so on. Listing 33.2 takes the robot through a series of patterned moves, including forward and backward movement, right and left spins, and turns. Delay routines allow you to specify how long each movement is to last. Vary the delay up or down to experiment with different motions. In the prototype for this book, the program in Listing 33.2 moves the robot back and forth about two feet. The program repeats itself until you reset the OOPic or disconnect the power. The modified servos use an externally accessible trimmer potentiometer. The trimmer pot, which is attached to the case of the servo with a small piece of double-sided foam tape, serves
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532 USING THE OOPIC MICROCONTROLLER
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to provide an accurate voltage divider by which the servos can be set to center, or neutral, position. The trimmer pots are set by temporarily taking IO line 7 high. This causes the program in Listing 33.2 to run an alternative routine in its Main loop, so you can set the Center property of both servos to a value of 31. The pots are then adjusted so that the motors just stop this represents the center position. Using the potentiometer makes it much easier to calibrate the servos so they can be used with the program. Once calibrated, you can tie IO line 7 low again.
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