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This code places the value of the result value, which the Read3202_0 method created, in the PotentiometerCount variable. In the following program segment, PotentiometerCount has been shortened to Pcount to make it less cumbersome to handle. We know from the Utilities program that Pcount will be between 0 to 4,095 (in that we are reading to 12 bits with the MCP3202 chip). We also know how to display information on the LCD, so let s incorporate all this into the next expansion of the program. The code is shown in Program 25-2. We will now be able to see the value we read from the potentiometer on the LCD, but the motor only reverses at a Pcount of 2,048 (there is no speed control).
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Program 25-2 Adding the Ability to Read the Pot and Display Its Value on the LCD
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{{04 Sep 09 Harprit Sandhu ReadDisplayPot.spin Propeller Tool Version 1.2.6 25 program 2 RUNNING A MOTOR, Read Pot/NO SPEED CONTROL This program runs the motor backward or forward at full speed based on the potentiometer position. Reverses at 2048 Pot position is displayed on the LCD Lines on Xavien amp as identified in the diagram are line 1 Brake tie it to ground to turn it off line 2 PWM signal line 6 on Prop line 3 Direction line 7 on Prop Connections are Amplifier brake Amplifier PWM Amplifier direction
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}} CON _CLKMODE=XTAL1+ PLL2X _XINFREQ = 5_000_000 BRK = 5 PWM = BRK+1 DIR = BRK+2 VAR long position long stack2[50] long pcount long potpos
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'The system clock spec '
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'space for Cog two 'potentiometer reading. (continued)
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Controlling a Small DC motor
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Program 25-2 (continued)
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Adding the Ability to Read the Pot and Display Its Value on the LCD
OBJ LCD : "LCDRoutines4" UTIL : "Utilities"
'These are the methods we will need 'for the LCD methods 'for general methods
PUB Go 'main Cog dira[BRK..DIR]~~ 'set direction for lines outa[BRK..DIR]:=%011 'make the lines high, brake off Cognew(cog_two, @stack2) 'start new Cog for the LCD repeat 'this Cog's main loop pcount:=UTIL.Read3202_0 'get the pot reading from the utilities if pcount<2048 'check for center position outa[DIR]~ 'forward direction set pcount:=(2048-pcount)*2 'set center,double for 4095 else 'or outa[DIR]~~ 'reverse direction pcount:=(pcount-2048)*2 'set center ,double for 4095 potpos:=pcount Pub Cog_two 'set up and run the LCD LCD.INITIALIZE_LCD 'initialize the LCD repeat 'LCD loop LCD.POSITION (1,1) 'Go to 1st line 1st space LCD.PRINT(STRING("Pot position")) 'Potentiometer position ID LCD.POSITION (2,1) 'Go to 2nd line 1st space LCD.PRINT_DEC(Potpos) 'print the pot reading LCD.SPACE(2) 'erase over old data
Once we get Program 25-2 running and the motor responding, we will have the basic on/off and reverse control of the motor in hand. We can see the position of the potentiometer on the LCD. Notice that the motor reverses at mid point on the potentiometer but still runs at full speed. We need to tie the potentiometer position/reading to the speed of the motor. In order to do this, we have to create a PWM signal whose pulse width is a function of the potentiometer reading input to the amplifier. This can be done with either of the two counters in any of the cogs in use, so next we need to learn how to use a counter. This topic was discussed earlier in the book, so you may want to review it. (See 7.) Here, we get into the details a little deeper and make it work. A detailed description of the 31 different uses of these counters could well be a book in itself, so we will not go into explaining their use in this beginners book. We will, however, learn how to generate a PWM signal with one counter and discuss some of the general properties of the bits we manipulate to set the needed counter properties. The system assigns these bits to various functions that determine how the counter will operate. When you read up on counters in the Propeller Manual, be sure to read the sections on the frequency control registers and the phase-lock loop registers at the same time. You will have to read these sections a few times before you start to understand what is going on. The areas of interest are under instructions CTRA, FHSA, and PHSA in the Propeller Manual. It takes all three registers to control the operation of a counter.
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