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Experiment 4: Monitoring Motor Current
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Our fourth and final experiment is a simple demonstration of the L298 current-sensing feature We ll again use the same master processor setup, but with different software (Exp4-CurrentTestbas), which is shown in Listing 17-3 The program is simple; all it does is send the real-time ADC current-sensing value to the terminal window Download it to your master processor and while it s running, place a load on the motor by gently pinching its shaft; you should be able to at least double the ADC reading
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Driving Octavius
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LISTING 17-2 ' ============================== Exp3-SpeedTestbas ============================== ' Program demonstrates DC motor speed control using the pwmout and pwmduty ' commands ' === Constants ===== symbol enable = C5 ' === Directives ==== #com 4 #picaxe 20X2 #no_data #no_table #terminal 9600
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' ============================= Begin Main Program =============================== low enable ' make C5 an output pwmout enable, 99, 0 ' set up PWM (0% duty) ' (5kHz PWM @ 8MHz clock) do gosub stopp high B0 ' set up for forward low B2 high B5 low B7 sertxd ("Forward Fast",CR,LF) pwmduty enable, 400 ' 100% duty wait 2 gosub stopp high B0 low B2 high B5 low B7 sertxd ("Forward Slow",CR,LF) pwmduty enable, 300 wait 2 loop
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' set up for forward
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' 75% duty
' ====== End Main Program - subroutines follow ====== stopp: low enable wait 1 return ' stop ' disable output ' wait for motor to stop
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LISTING 17-3 ' ====================== Exp4-CurrentTestbas ======================= ' Program demonstrates L298 current-sensing ' === Constants ====== symbol enable = C5 ' === Variables ====== symbol Vin = b0 ' === Directives ===== #com 4 #picaxe 20X2 #no_data #no_table #terminal 9600
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' ======================= Begin Main Program ======================== low enable ' make C5 an output high low high low high B0 B2 B5 B7 enable ' setup for "forward"
' start motor
do ' (Pinch motor shaft to see change in ADC value) readadc10 11, Vin ' get ADC value sertxd (#Vin, CR, LF) ' send it to Terminal pause 500 loop
When I ran the program with the motor shown in Figure 17-8 (RS# 273-255), I obtained an ADC reading that fluctuated between 18 and 25 When I pinched the motor shaft, that figure easily doubled If I completely stalled the motor, it increased to about 90 To see what those results actually mean, let s do some calculations using the maximum value of 90 To begin with, the ADC measurement is of the voltage that the L298 is placing across the 05-ohm power resistor Using the same proportional approach as we did in 6: Vin / 5 90 / 1023 If you solve that equation for Vin, it turns out to be 044V (The L298 datasheet
specifies a maximum value of 2V for this figure) To determine the current draw, we just need to apply Ohm s law: I E / R or I 044 / 05 880mA So, our little toy motor draws almost a full Amp when stalled Don t forget that figure can easily double if you immediately switch the motor from full forward to full reverse, as I may have accidentally done to poor Octavius Happily, the current-sensing capability of the L298 motor controller board will enable Octavius (or your robot) to avoid any disasters in the future
CHAPTER
Programming Octavius
DEVELOPING AN AUTONOMOUS robot is a challenging and sometimes frustrating experience It usually goes something like this: First, you spend numerous hours designing and constructing a chassis, power system, and main logic board Next, you research, select, and implement one or more sensory systems and then write a complex and elegant program that s carefully designed to handle any eventuality After investing huge amounts of time, energy, and money, you re finally ready to test your new creation You hit the power switch and what happens Your pride and joy darts off and runs into the nearest obstacle he can find! If he s a little guy, like my first- and secondgeneration robots, this really isn t all that much of a problem You just run after him, pick him up, and try to figure out what went wrong This is when the frustration (and the real learning) begins With little or no information at your disposal, you have to greatly simplify your software and test everything one step at a time It s a timeconsuming endeavor reprogramming and retesting in a seemingly infinite loop not fun to say the least! If you re working with a robot like Octavius one that weighs 25 pounds and has motors that can draw two or three Amps (or more) when stalled it can also be an expensive process When Octavius experienced his power train meltdown, I had to design and build the more powerful motor controller that we constructed in the previous chapter However, I also learned a valuable lesson
from this little disaster: Just like a human infant, a newborn robot can t be left entirely on his own during the early stages of development My first attempt at parental control (a large kill switch mounted on Octavius rear breadboard) worked well enough, but I soon tired of chasing him around my basement workspace My second approach to the problem was a little more sophisticated and it enabled me to avoid some unnecessary exercise I decided to apply our TV-IR remote input module (Project 8) to the world of robotics In order to understand how helpful this approach can be in the process of Octavius early development, we first need a sensory system that can give him the illusion of autonomy while we carefully monitor his activity in the background Because of its simplicity and power, I chose a MaxBotix ultrasonic ranging system to enable Octavius to take his first baby steps into the real world, so let s begin there
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