barcode scanner vb.net textbox Using the OOPic to Control Stepper Motors in Software

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Using the OOPic to Control Stepper Motors
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The OOPic is full of pleasant surprises, including the innate ability to control a standard four-phase unipolar stepper motor. Unlike R/C servos, however, the OOPic is not able to directly drive a stepper motor. For that you ll need an interface with a current and voltage rating for the stepper motor you are using. 19 provides additional information on using stepper motors. Listing 33.3 shows a simple stepper motor driving program that uses a feature unique to the OOPic: virtual circuits. Instead of programming each of the four phases of a stepper with on/off values in code, this program uses two processing objects, oConverter and oCounter. Processing objects are used to construct virtual circuits, which are like real electronic circuits, only they are created solely using programming statements.
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LISTING 33.3.
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' OOPic stepper motor demonstrator ' Uses a standard four-phase unipolar stepper motor ' Operates motor in half-stepping mode ' Dimension objects Dim Stepper as New oDio4 ' 4-bit IO for controlling stepper Dim Driver as New oConverter Dim Position as New oWord ' 32-bit value for current position Dim Mover as New oCounter ' Sub Main() Call Setup ' The rest of your code here ' To reverse motor, use Mover.Direction = cvNegative ' or Mover.Direction = cvPositive ' To stop-and-hold motor, use Mover.Operate = cvFalse ' To restart motor, use Mover.Operate = cvTrue ' To stop and de-energize motor, use Driver.Blank = 1 End Sub ' ' Set up stepper motor Sub Setup() Stepper.IOGroup = 1 ' Set stepper to use IO group 1 (pins 8-11) Stepper.Nibble = 0 ' Picks lower 4 lines from IO group Stepper.Direction = cvOutput ' Make lines outputs Driver.Output.Link(Stepper.Value) ' Set up virtual circuit
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Driver.Input.Link(Position.Value) Driver.Mode = cvPhase Driver.Operate = cvTrue Mover.ClockIn1.Link(OOPic.Hz60) ' Use OOPic 60 Hz object for stepping Mover.Output.Link(Position.Value) Mover.Operate = cvTrue ' Enable counter End Sub
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The stepper motor program in Listing 33.3 demonstrates one of the uses for the oConverter numeric-conversion object. This program has the built-in behavior of being able to construct the proper phasing to control the forward and backward rotation of a fourphase unipolar stepper motor. The program also uses a counter object, which allows you to define the number of steps you wish to apply to the motor. Keep in mind that the oConverter object specifies an eight-phase cycle, which has the effect of moving the motor in half-step increments (this serves to improve the accuracy and torque of the motor). So, for example, if the motor is rated at 200 steps per revolution, it will require 400 pulses from the OOPic to turn it a full 360 degrees. Experiment with the OOPic and you ll find it s a capable performer in the field of robotics. By using its objects judiciously, coupled with a liberal sprinkling of virtual circuits, you should be able to construct most any kind of robotic creature using a minimum number of external components.
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Stepper motors How servo motors work Different approaches for adding brains to your robot Connecting the OOPic microcontroller to sensors and other electronics
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19, Working with Stepper Motors 20, Working with Servo Motors 28, An Overview of Robot Brains 29, Interfacing with Computers and Microcontrollers
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REMOTE CONTROL SYSTEMS
he most basic robot designs just a step up from motorized toys use a wired control box on which you flip switches to move the robot around the room or activate the motors in the robotic arm and hand. The wire link can be a nuisance and acts as a tether preventing your robot from freely navigating through the room. You can cut this physical umbilical cord and replace it with a fully electronic one by using a remote control receiver and transmitter. This chapter details several popular ways to achieve links between you and your robot. You can use the remote controller to activate all of the robot s functions, or with a suitable on-board computer working as an electronic recorder, you can use the controller as a teaching pendant. You manually program the robot through a series of steps and routines, then play it back under the direction of the computer. Some remote control systems even let you connect your personal computer to your robot. You type on the keyboard, or use a joystick for control, and the invisible link does the rest.
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