Subject:
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simoultaneosly driving stepper motors
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Sat, 30 Oct 1999 12:29:27 GMT
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Viewed:
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825 times
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Hi, All
My name is Pocorobba Tino.I'm 33 y old and I live in Sicily (Italy).
I bought a copy of "Mobile Robots:inspiration to implementation" and I studied
it deeply.
I've now some problems and I hope that somebody will help me!!!
I'd like to construct a robot arm with six step motors and to make this the
motors have to be driven simoultaneously.
I started writing a IC-program that move only one motor:
int abs(int arg)
{ if (arg< 0)
return (-arg); else return arg;}
void move1(int step1, long delay1)
{
int i;
if (step1>0)
poke(0x5000,0b00000001);
else
poke(0x5000,0b00000000);
for(i=0;i<abs(step1);i++)
{
poke(0x4000,0b00000001);
msleep(delay1);
poke(0x4000,0b00000000);
msleep(delay1);
}
}
As you can note, the program generate a train of step1 impulse for delay1
frequence(gate 0x4000).The direction is fixed on gate 0x5000.
I'd like now construct a function tipe:
move(int step1,….,int step6, long delay1,…., long delay6)
this function should drive simoultaneously six motors.
This is my first problem.
Now I tell you the second one.
The precedent IC-program has a limitation:the max frequence that can generate
is 2000 Hz.
I thought to write an ICB-program to go over this limitation
org MAIN_START
variable_step1:
FDB 0
subroutine_set_step1:
std variable_step1
rts
variable_delay1:
FDB 0
subroutine_set_delay1:
std variable_delay1
rts
subroutine_move1:
ldx variable_step1 (number of impulses)
loop
ldaa #%10000000
staa $4000
bsr rit
ldaa #%00000000
staa $4000
bsr rit
dex
bne loop
rts
rit
ldy variable_delay1
inner
dey
bne inner
rts
int move11(int step1, int delay1)
{
set_step1(step1);
set_delay1(delay1);
move1(0);
}
This program worked only once, why???
I'd like to build up a program driving six step motors simultaneously without
the limitation of the 2000 Hz.
Hoping You 'll help me I send you my best regards.
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