Stepper motor

Sekarang ni hari jumaat. kitorang sedang berusaha untuk memastikan stepper motor bergerak lancar. Litar yang kami gunakan adalah menggunakan PIC16F84A untuk ingatan aku aku pon telah meng Google semula arahan yang dimasukkan ke dalam PIC tu...





program telah ditulis oleh Seiichi Inoue

Source code file of Stepper Motor controller

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;******************************************************** ; ; Stepper Motor controller ; ; Author : Seiichi Inoue ;******************************************************** list p=pic16f84a include p16f84a.inc __config _hs_osc & _wdt_off & _pwrte_on & _cp_off ;**************** Label Definition ******************** cblock h'0c' mode ;Operation mode ;0=stop 1=right 2=left count1 ;Wait counter count2 ;Wait counter(for 1msec) endc rb0 equ 0 ;RB0 of PORTB rb1 equ 1 ;RB1 of PORTB rb2 equ 2 ;RB2 of PORTB rb5 equ 5 ;RB5 of PORTB rb7 equ 7 ;RB7 of PORTB ;**************** Program Start *********************** org 0 ;Reset Vector goto init org 4 ;Interrupt Vector clrf intcon ;Clear Interruption reg ;**************** Initial Process ********************* init bsf status,rp0 ;Change to Bank1 clrf trisa ;Set PORTA all OUT movlw b'00100111' ;RB0,1,2.5=IN RB7=OUT movwf trisb ;Set PORTB movlw b'10000000' ;RBPU=1 Pull up not use movwf option_reg ;Set OPTION_REG bcf status,rp0 ;Change to Bank0 clrf mode ;Set mode = stop clrf count1 ;Clear counter clrf count2 ;Clear counter movlw b'00000101' ;Set PORTA initial value movwf porta ;Write PORTA bsf portb,rb7 ;Set RB7 = 1 btfsc portb,rb5 ;RB5 = 0 ? goto $-1 ;No. Wait start ;************* Check switch condition ***************** btfsc portb,rb1 ;RB1(stop key) = ON ? goto check1 ;No. Next clrf mode ;Yes. Set stop mode goto drive ;No. Jump to motor drive check1 btfsc portb,rb2 ;RB2(right key) = ON ? goto check2 ;No. Next movlw d'1' ;Yes. Set right mode movwf mode ;Save mode goto drive ;No. Jump to motor drive check2 btfsc portb,rb0 ;RB0(left key) = ON ? goto drive ;No. Jump to motor drive movlw d'2' ;Yes. Set left mode movwf mode ;Save mode ;******************** Motor drive ********************* drive movf mode,w ;Read mode bz start ;mode = stop bsf portb,rb7 ;Set RB7 = 1 btfsc portb,rb5 ;RB5 = 0 ? goto $-1 ;No. Wait movlw d'5' ;Set loop count(5msec) movwf count1 ;Save loop count loop call timer ;Wait 1msec decfsz count1,f ;count - 1 = 0 ? goto loop ;No. Continue bcf portb,rb7 ;Set RB7 = 0 btfss portb,rb5 ;RB5 = 1 ? goto $-1 ;No. Wait movf porta,w ;Read PORTA sublw b'000000101' ;Check motor position bnz drive2 ;Unmatch movf mode,w ;Read mode sublw d'1' ;Right ? bz drive1 ;Yes. Right movlw b'00001001' ;No. Set Left data goto drive_end ;Jump to PORTA write drive1 movlw b'00000110' ;Set Right data goto drive_end ;Jump to PORTA write ;------- drive2 movf porta,w ;Read PORTA sublw b'000000110' ;Check motor position bnz drive4 ;Unmatch movf mode,w ;Read mode sublw d'1' ;Right ? bz drive3 ;Yes. Right movlw b'00000101' ;No. Set Left data goto drive_end ;Jump to PORTA write drive3 movlw b'00001010' ;Set Right data goto drive_end ;Jump to PORTA write ;------- drive4 movf porta,w ;Read PORTA sublw b'000001010' ;Check motor position bnz drive6 ;Unmatch movf mode,w ;Read mode sublw d'1' ;Right ? bz drive5 ;Yes. Right movlw b'00000110' ;No. Set Left data goto drive_end ;Jump to PORTA write drive5 movlw b'00001001' ;Set Right data goto drive_end ;Jump to PORTA write ;------- drive6 movf porta,w ;Read PORTA sublw b'000001001' ;Check motor position bnz drive8 ;Unmatch movf mode,w ;Read mode sublw d'1' ;Right ? bz drive7 ;Yes. Right movlw b'00001010' ;No. Set Left data goto drive_end ;Jump to PORTA write drive7 movlw b'00000101' ;Set Right data goto drive_end ;Jump to PORTA write ;------- drive8 movlw b'00000101' ;Compulsion setting drive_end movwf porta ;Write PORTA goto start ;Jump to start ;************* 1msec Timer Subroutine ***************** timer movlw d'200' ;Set loop count movwf count2 ;Save loop count tmlp nop ;Time adjust nop ;Time adjust decfsz count2,f ;count - 1 = 0 ? goto tmlp ;No. Continue return ;Yes. Count end ;******************************************************** ; END of Stepper Motor controller ;******************************************************** end

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