Clase Servomotores
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Transcript of Clase Servomotores
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7/25/2019 Clase Servomotores
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B5
B0
B1
B2
B3
B4
B0B1B2
B3B4B5
R410k
+5V
X1
FREQ=4MHzC115pF
C215pF
D7
14
D6
13
D5
12
D4
11
D3
10
D2
9
D1
8
D0
7
E
6
RW
5
RS
4
VSS
1
VDD
2
VEE
3
LCD1LM032L
VSS
Vdd
50%
+5V
B[0..5]
R14.7k
UP
R54.7k
+5V
DOWN
+12V
+88.8
T= 2ms
+12V
+88.8
T = 4ms
+12V
+88.8
T = 3ms
+12V
+88.8
R24.7k
Enter
+5V
RE3/MCLR/VPP1
RA1/AN1/C12IN1-3
RA2/AN2/VREF-/CVREF/C2IN+4
RA4/T0CKI/C1OUT6
RA5/AN4/SS/C2OUT7
RB0/AN12/INT33
RB1/AN10/C12IN3-34
RB2/AN835
RA7/OSC1/CLKIN13
RA6/OSC2/CLKOUT14
RD5/P1B 28
RD6/P1C 29
RD7/P1D 30
RC4/SDI/SDA 23
RC5/SDO 24
RC3/SCK/SCL 18
RC2/P1A/CCP1 17
RC1/T1OSI/CCP2 16
RC0/T1OSO/T1CKI 15
RB7/ICSPDAT40
RB6/ICSPCLK39
RB5/AN13/T1G38
RB4/AN1137
RD3 22
RD2 21
RD1 20
RD0 19
RC7/RX/DT 26
RC6/TX/CK 25
RE2/AN7 10
RE1/AN6 9
RE0/AN5 8
RA3/AN3/VREF+/C1IN+5
RD4 27
RB3/AN9/PGM/C12IN2-36
RA0/AN0/ULPWU/C12IN0-2
U2
PIC16F887
A
B
C
D
Selector dePosicin
Mdulo CCP(PWM)
Interfazdevisualizacin
Microcontrolador
Servomotor
T
D
D
D
0
0
0
V+
V+
V+
Vm
Vm
=
Vdd
PWM
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D
pos-90 +90
128 => 50%T = 2 ms
D= 1ms => -90
D= 1.5ms => 0
D= 2ms => +90
Se elige T = 4 ms ( = 250 !"#.
$ Mi&'o ) PWM1*Se*D,(D,# espeii/ ,e D, /'/ e'e 0 255. 0 => 0%T)
128 => 50%T 255 => 100%T
Si 253 -------------- 4 ms = 1.5
64 1.55 96
--------------- 1.5 ms
93 => 1.5 ms
96 64
180 0
64
180 96
34 => 25%T = 1 ms
0
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oid iM/i(# 67S$ = 0: ;; oig,'e 7 pis /s digi/l
7S$! = 0:
1
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si D
