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function cmd_dcmotor_run(h,motor_no,u1)
// Command to run DC motor after setting up
//
// Calling Sequence
// cmd_dcmotor_run(h,motor_no,u1)
//
// Parameters
// h : Board number, reserved for future use. For this version, any number would do
// motor_no : ID in which the motor has been connected
// u1 : Value to sent, range from -255 to 255, for clockwise and anti-clockwise direction
//
// Description
// Arduino board does not deliver enough power, so it is necessary to use a H-bridge circuit/IC to control the motor. There are several types of H-bridge IC that do not all operate on the same principle. For example, the L298 requires the use of a PWM signal with current sense. The L293 uses two PWM to set the speed and direction. Ready-to-use Shields are also available.
//
// Remember that the PWM is 8-bit (0 to 255). The input of the block could accept any value, but it would saturate at +- 255.
//
// Examples
// ok = open_serial(1,9,115200)
// cmd_dcmotor_setup(1,3,1,9,10) // Setup DC motor of type 3 (L293), motor 1, pin 9 and 10
// cmd_dcmotor_run(1,1,255)
// sleep(1000)
// cmd_dcmotor_run(1,1,-255)
// sleep(1000)
// cmd_dcmotor_release(1,1)
// close_serial(1)
// See also
// cmd_dcmotor_setup
// cmd_dcmotor_release
//
// Authors
// Bruno JOFRET, Tan C.L.
//
direction=sign(u1);
if direction>=0 then
code_dir=ascii(49);
else
code_dir=ascii(48);
end
if abs(u1)>255 then
val=255;
else
val=abs(ceil(u1));
end
code_sent="M"+ascii(48+motor_no)+code_dir+ascii(val);
write_serial(h,code_sent,4)
// end
endfunction
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