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Thema: PropellerChips: spincode zur ansteuerung v.servos & e-mo

  1. #1
    Erfahrener Benutzer Fleißiges Mitglied
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    29.08.2005
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    PropellerChips: spincode zur ansteuerung v.servos & e-mo

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    hi leute,
    fuer den propeller-chip

    eine function zum steuern von Servos und e-mots
    mit folgender formel:
    X = ((X * weight-1)+ Xf) / weight)

    x = basevalue
    xf = endvalue
    if x < xf -> rampUp
    if x > xf -> rampDown

    weight: muss groesser als 1.0 sein
    je groesser weights = desto langsamer gehts zur endstellung

    Code:
         Ramper_vers_10.spin                                                  
                                                                       
         for       : programm basics for ramping Servos Up/down                * 
                     - from darwinWeights2.c                                   *
                     -                                                         *
                                                                               *                                                            *
     ========================================================================= *
                     THIS PROGRAMM IS UNDER THE GNU-LICENCE                    * 
     ========================================================================= *
     *                                                                         * 
     *   This program is free software; you can redistribute it and/or modify  * 
     *   it under the terms of the GNU General Public License as published by  * 
     *   the Free Software Foundation; either version 2 of the License, or     * 
     *   (at your option) any later version.                                   *  
     ==========================================================================*
     *   Contributions:                                                        *
     *                  parallax.com                                           *
     *                  http://www.parallax.com                                *  
     *                                                                         * 
     *                  Spieleprogrammierung M. DeLoran                        *
     *                  page 145 ff. Mathematics                               *
     *                  Author: John Olsen                                     *                      
     ==========================================================================*
    
    }
    
    
    CON 
      _CLKMODE = XTAL1 + PLL16X     'Set to ext crystal, 16x PLL, 80MHz Clock 
      _XINFREQ = 5_000_000          'Frequency on XIN pin is 5 MHz 
      
      
    VAR
      LONG Xnew               ' dynamic Value
      LONG Xold               ' " 
      LONG X                  ' servoValue
      LONG Xf                 ' EndValue
                              ' if on 1.time Xf is greater as X then RampUp
                              ' if on 1.time Xf is smaller as X then RampDown
      LONG weight             ' dynamics greater smoother                           
     
    
      'intermediate results
      LONG w1, z1, z2, z3, z4, z5, z6
      ' value for abort repeat-loop
      LONG ab1, endval
    
      
      ' values for Float32-stuff from propNN2.spin
      long testerror
      long  vlong
      word  vword
      byte  vbyte    
    
    
    
    OBJ
      text : "vga_text"        ' create vgaText-object
      f    : "Float32Full"   
      fp   : "FloatString"
    
    PUB Main
    
      f.start
      
      text.start(16)
      
      text.str(string(13,"Ramper-Implementations Vers 0.10 VGA Output ProtoBoard",13,13,$C,5,$C,1))
       
      rampUP
    
      waitcnt(96_000_000+cnt) ' wait only for looking the output of UP
      
      rampDown
    
    PUB rampUp
    
      ab1    := 1.0  
    
      weight := 30.0
      Xold   := 90.0
      Xnew   := Xold
      X      := 10.0
      Xf     := 100.0  ' EndPos only for graphic Screen y-pos is up
    
      endval := f.FSub(Xf,ab1)
      
      REPEAT                       ' originalformula: X := ((X * (weight-1.0)+Xf) / weight)
        w1 := f.FSub(weight,1.0)   ' w1 := weight-1.0
        z1 := f.FMul(X,w1)         ' z1 := X * w1
        z2 := f.FAdd(z1,Xf)        ' z2 := z1 + Xf
        z3 := f.FDiv(z2,weight)    ' z3 := z2 / weight
        X  := z3
    
        text.out($0D)   ' newline  
        text.str(fp.FloatToString(X))  ' old without Float32Stuff -> text.dec(X)           
        text.out($0D)  ' new line
                                   
        ' do something
        ' you can change X, Xf, weight dynamical
    
        IF X > endVal
          text.out($0D)   ' newline  
          text.str(string(13,"Its UP and Quit",13,13,$C,5,$C,1))
          text.out($0D)   ' newline
    
          Xnew := X
            
          QUIT
    
    
    PUB rampDown
      weight := 30.0     
      X      := Xnew
      Xf     := 10.0
      
      endval := f.FAdd(Xf,ab1)
      
      REPEAT                       ' originalformula: X := ((X * (weight-1.0)+Xf) / weight)
        w1 := f.FSub(weight,1.0)   ' w1 := weight-1.0
        z1 := f.FMul(X,w1)         ' z1 := X * w1
        z2 := f.FAdd(z1,Xf)        ' z2 := z1 + Xf
        z3 := f.FDiv(z2,weight)    ' z3 := z2 / weight
        X  := z3
    
        text.out($0D)   ' newline  
        text.str(fp.FloatToString(X))  ' old without Float32Stuff -> text.dec(X)           
        text.out($0D)  ' new line
                                   
        ' do something
        ' you can change X, Xf, weight dynamical
    
        IF X < endVal
          text.out($0D)   ' newline  
          text.str(string(13,"Its Down and Quit",13,13,$C,5,$C,1))
          text.out($0D)   ' newline
    
          Xnew := X
            
          QUIT
    
    
    {------------------------------------------------------------------------------------}
    als attachment noch ein bild zum ungefaehren kurven-verlauf
    ramping.jpg
    das waers
    gruss
    nomad
    [/img]
    Miniaturansichten angehängter Grafiken Miniaturansichten angehängter Grafiken ramping.jpg  

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