'23-DCMOT-ABDRIVE.BAS
'TWO DC MOTOR CONTROL
'DRK 20160226
'L9110 MOTOR CONTROL CHIP
'B-IA B-IB GND VCC(2.5-12V DC) A-IA A-IB
'SCREW: MOTOR B MOTOR A
'ARF A-B R-L F(ULL) M(IDDLE) L(OW) S(TOP)
'PWM:
'MM28 PWM1 A,B,C > 4,5,6 PWM2 A,B > 26,24
'MM44 PWM1A,B,C > 21,22,23 PWM2 A,B >15,11
'======[ INITIALIZING ]================================================
OPTION EXPLICIT
'PRG
CONST A1PIN=21, A2PIN=24, B1PIN=15, B2PIN=23
CONST M_A_DIR=A2PIN 'A-IB
CONST M_B_DIR=B2PIN 'B-IA
'APWM=21 BPWM=15
'A>21--24 B>15--23
CONST PWM_FAST=90,PWM_MID=60,PWM_SLOW=10
CONST F_TIME=100,M_TIME=80,L_TIME=25
DIM UT$
'======[ PROGRAM ]=====================================================
MAIN:
MA_STOP
MB_STOP
DO
'MANUAL CONTROL:
UT$=INSTRU$()
ABCONTROL UT$
'TIMING CONTROL:
' ABCONTROL "ARL"
' ABCONTROL "BRF"
' PAUSE 1000
' ABCONTROL "ALF"
' ABCONTROL "BLM"
' PAUSE 3000
' ABCONTROL "ALL"
' ABCONTROL "BRL"
' PAUSE 3000
LOOP
'======[ SUBROUTINES, FUNCTIONS ]======================================
'MOTOR MOVEMENT USER INTERFACE-OUTPUT:THREE VALID LETTERS
FUNCTION INSTRU$()
LOCAL L$,M$,R$,INS$
UJRA:
INS$=""
PRINT
PRINT "FORMAT: THREE LETTERS: MOTOR(A,B)-DIR(R,L)-SPEED(F,M,L,S)"
INPUT "A,B--R,L--F(ULL),M(ID),(L)OW),S(TOP) >>",INS$
PRINT
INS$=UCASE$(INS$): L$=LEFT$(INS$,1):M$=MID$(INS$,2,1):R$=RIGHT$(INS$,1)
IF (L$<>"A" AND L$<>"B")OR(M$<>"R" AND M$<>"L")OR(R$<>"F" AND R$<>"M" AND R$<>"L" AND R$<>"S") THEN
PRINT INS$,":ERROR!!!"
GOTO UJRA
ENDIF
PRINT INS$
INSTRU$=INS$
END FUNCTION
'MOTOR A AND B MOVEMENT CONTROL WITH THREE VALID LETTERS
SUB ABCONTROL INST$
LOCAL ASTATE,BSTATE
IF INST$="BRS" THEN INST$="BLS"
IF INST$="ARS" THEN INST$="ALS"
SELECT CASE INST$
'===============================================
CASE "ALF"
ASTATE=1:AFOROG 0,PWM_FAST
PRINT "A FAST FORWARD..."
CASE "ALM" '2-FORWARD
ASTATE=2:AFOROG 0,PWM_MID
PRINT "A MID FORWARD..."
CASE "ALL" '3-FORWARD
ASTATE=3:AFOROG 0,PWM_SLOW
PRINT "A SLOW FORWARD..."
CASE "ARF"
ASTATE=4:AFOROG 1,PWM_SLOW
PRINT "A FAST REVERSE..."
CASE "ARM" '2-FORWARD
ASTATE=5:AFOROG 1,PWM_MID
PRINT "A MID REVERSE..."
CASE "ARL" '3-FORWARD
ASTATE=6:AFOROG 1,PWM_FAST
PRINT "A SLOW REVERSE..."
CASE "ALS" '3-FORWARD
IF ASTATE=1 THEN
AFOROG 1,PWM_SLOW
PAUSE F_TIME
ENDIF
IF ASTATE=2 THEN
AFOROG 1,PWM_MID
PAUSE M_TIME
ENDIF
IF ASTATE=3 THEN
AFOROG 1,PWM_FAST
PAUSE L_TIME
ENDIF
IF ASTATE=4 THEN
AFOROG 0,PWM_FAST
PAUSE F_TIME
ENDIF
IF ASTATE=5 THEN
AFOROG 0,PWM_MID
PAUSE M_TIME
ENDIF
IF ASTATE=6 THEN
AFOROG 0,PWM_SLOW
PAUSE L_TIME
ENDIF
ASTATE=7
MA_STOP
PRINT "A STOP"
'===============================================
CASE "BLF"
BSTATE=1:BFOROG 0,PWM_FAST
PRINT "B FAST FORWARD..."
CASE "BLM" '2-FORWARD
BSTATE=2:BFOROG 0,PWM_MID
PRINT "B MID FORWARD..."
CASE "BLL" '3-FORWARD
BSTATE=3:BFOROG 0,PWM_SLOW
PRINT "B SLOW FORWARD..."
CASE "BRF"
BSTATE=4:BFOROG 1,PWM_SLOW
PRINT "B FAST REVERSE..."
CASE "BRM" '2-FORWARD
BSTATE=5:BFOROG 1,PWM_MID
PRINT "B MID REVERSE..."
CASE "BRL" '3-FORWARD
BSTATE=6:BFOROG 1,PWM_FAST
PRINT "B SLOW REVERSE..."
CASE "BLS"
IF BSTATE=1 THEN
BFOROG 1,PWM_SLOW
PAUSE F_TIME
ENDIF
IF BSTATE=2 THEN
BFOROG 1,PWM_MID
PAUSE M_TIME
ENDIF
IF BSTATE=3 THEN
BFOROG 1,PWM_FAST
PAUSE L_TIME
ENDIF
IF BSTATE=4 THEN
BFOROG 0,PWM_FAST
PAUSE F_TIME
ENDIF
IF BSTATE=5 THEN
BFOROG 0,PWM_MID
PAUSE M_TIME
ENDIF
IF BSTATE=6 THEN
BFOROG 0,PWM_SLOW
PAUSE L_TIME
ENDIF
BSTATE=7
MB_STOP
PRINT "B STOP"
'===============================================
CASE ELSE
PRINT INSTR$,": ERROR!!!"
END SELECT
END SUB
'DIRECT CONTROL MOTOR A (TESTING IN CMD LINE)
SUB CTRLA
LOCAL X
DO
INPUT "XA(0,1,2,3)= ",X
PORT(A1PIN,1,A2PIN,1)=X
LOOP
END SUB
'DIRECT CONTROL MOTOR B (TESTING IN CMD LINE)
SUB CTRLB
LOCAL X
DO
INPUT "XB(0,1,2,3)= ",X
PORT(B1PIN,1,B2PIN,1)=X
LOOP
END SUB
'MOTOR A STOP
SUB MA_STOP
pwm 1,stop:SETPIN A1PIN,DOUT:PIN(A1PIN)=0:SETPIN A2PIN,DOUT:PIN(A2PIN)=0
END SUB
'MOTOR B STOP
SUB MB_STOP
pwm 2,stop:SETPIN B1PIN,DOUT:PIN(B1PIN)=0:SETPIN B2PIN,DOUT:PIN(B2PIN)=0
END SUB
'
SUB APWM KT
PWM 1,20,KT 'PWM1(21)
END SUB
'
SUB BPWM KT
PWM 2,20,KT 'ANPWM(15)
END SUB
'
SUB AFOROG MDIR,MSEB
MA_STOP:PIN(M_A_DIR)=MDIR:APWM MSEB
END SUB
'
SUB BFOROG MDIR,MSEB
MB_STOP:PIN(M_B_DIR)=MDIR:BPWM MSEB
END SUB
END '**[ PROGRAM END ]*************************************************