Appendix A: Rack Specification Sheet

Transcription

1 Appendices

2 Appendix A: Rack Specification Sheet

3 A-1

4 Appendix B: Pinion Specification Sheet

5 B-1

6 Appendix C: Specification Sheets for Motors One and Two

7 Motor One Specification Sheet C-1

8 C-2

9 Motor Two Specification Sheet Item Specifications Step Angle 0.9 Step Angle Accuracy ±5% (full step, no load) Resistance Accuracy ±10% Inductance Accuracy ±20% Temperature Rise Ambient Temperature Insulation Resistance Dielectric Strength Shaft Radial Play Shaft Axial Play 80 C Max.(rated current,2 phase on) -20 C~+50 C 100M Ω Min.,500VDC 500VAC for one minute 0.02Max. (450 g-load) 0.08Max. (450 g-load) Max. radial force 28N ( 20mm from the Flange ) Max. axial force 10N Rotation CW( See from Front Flange ) C-3

10 Model No. Rated Current Resistance Voltage /Phase /Phase Inductance /Phase Holding Torque # of Leads Rotor Inertia Weight Detent Operating Torque Curve Length Single Shaft Double Shaft V A Ω mh Kg-cm g-cm 2 kg g-cm mm SY42STH MA SY42STH MB a SY42STH MA SY42STH MB b SY42STH MA SY42STH MB c 33 SY42STH MA SY42STH MB d SY42STH MA SY42STH MB e SY42STH MA SY42STH MB f SY42STH MA SY42STH MB g 38 SY42STH MA SY42STH MB h SY42STH MA SY42STH MB i SY42STH MA SY42STH MB j SY42STH MA SY42STH MB k 47 SY42STH MA SY42STH MB l C-4

11 C-5

12 Appendix D: Microchip dspic30f6015

13 D-1

14 D-2

15 D-3

16 D-4

17 Appendix E: Real Time Clock DS1307

18 E-1

19 E-2

20 E-3

21 Appendix F: 4x4 Grayhill Matrix Keypad

22 F-1

23 F-2

24 Appendix G: Keypad Encoder EDE1144

25 G-1

26 G-2

27 G-3

28 Appendix H: Liquid Crystal Display GDM2004M

29 H-1

30 H-2

31 Appendix I: PM3 to ICSP Converter AC164111

32 I-1

33 Appendix J: Magnetic Switches

34 J-1

35 Appendix K: Electrical System Schematics

36 K-1

37 Appendix L: Working C30 C Code

38 Program 1: /*! \file LCDv2.h \brief Subroutines for LCD. This header file contains all subroutines needed to initialize, to enter into command mode, and enter data mode of the LCD. List of commands: 1. Function Set: 8-bit, 1 Line, 5x7 Dots x Function Set: 8-bit, 2 Line, 5x7 Dots x Entry Mode x Display off Cursor off x0008 (clearing display without clearing DDRAM content) 5. Display on Cursor on x000E 6. Display on Cursor off x000C 7. Display on Cursor blinking x000F 8. Shift entire display left x Shift entire display right x001C 10. Move cursor left by one character x Move cursor right by one character x Clear Display (also clear DDRAM content) x Set DDRAM address or courser position on display -- 0x0080+add* 14. Set CGRAM address or set pointer to CGRAM location 0x0040+add** */ #ifndef LCDv2_H #define LCDv2_H void LCD_init(); void LCD_busy(); void LCD_command(unsigned char command); void LCD_senddata(unsigned char data); void LCD_sendstring(unsigned char *stringtoprint); void LCD_build(); void LCD_build1(unsigned char location, unsigned char *ptr); #include "p30f6015.h" #define LCD_data #define LCD_data_dir #define LCD_D7 #define LCD_rs #define LCD_en TRISB PORTB PORTBbits.RB7 PORTGbits.RG7 PORTGbits.RG8 /** * LCD has to be initialized either by the internal reset circuit or sending a * sequence of commands to initialize the LCD. It is the programmer who has to * decide whether to initialize the LCD by instructions or by the internal reset * circuit. * * This subroutine utilizes sending the sequence of commands method. * Void */ void LCD_init() { LCD_data = 0; //Clear data bus (PortB) LCD_data_dir = 0X0000; PORTG = 0; TRISG = 0X0000; Delay(1); //Make PortB Output port //Clear PortG //Made PortG output port (to use with rs,rw,en) LCD_data = 0x000C; //Display on, Cursor off LCD_rs = 0; //Zero= command mode LCD_en = 1; //Enable H->L Delay(1); LCD_en = 0; L-1

39 Delay(1); LCD_data = 0x0038; //2nd line on,5x7, 8-bit LCD_rs = 0; //Zero= command mode LCD_en = 1; //Enable H->L Delay(1); LCD_en = 0; Delay(1); LCD_data = 0x0001; //Clear LCD LCD_rs = 0; //Zero= command mode LCD_en = 1; //Enable H->L Delay(1); LCD_en = 0; } Delay(1); LCD_data = 0x0080; //Entry mode, auto increment with no shift LCD_rs = 0; //Zero= command mode Delay(1); LCD_en = 1; //Enable H->L Delay(1); /** * * There must be some delay for LCD to successfully process the command or data. * So this delay can be made either with a delay loop of specified time more than * that of LCD process time or we can read the busy flag, which is recommended. * The reason we want to use the busy flag, is the delay produced is almost exactly * amount of time the LCD needs to finish it's processing. * Void */ void LCD_busy() { TRISB = 0x0080; //Make port D7 (B7 on processor) input LCD_en = 1; //Make port pin G8 high LCD_rs = 0; //Zero= command mode low (0) { } while(lcd_d7) LCD_en = 0; //Enable H->L LCD_en = 1; //Read busy flag again and again till it goes } TRISB = 0x0000; //Make port D7 (B7 on processor) output /** * This subroutine can be called when you want to send commands to the LCD. A * list of some useful commands are listed in the description of this file. * command Command to send to LCD Void */ void LCD_command(unsigned char command) { LCD_data = command; //Function set: 2 Line, 8-bit, 5x7 dots LCD_rs = 0; //Zero= command mode LCD_en = 1; //Enable H->L Delay(1); LCD_en = 0; Delay(1); } L-2

40 /** * We can pass a character (char) to display as a parameter to function. * example function call: LCD_senddata('A'); * data Void */ void LCD_senddata(unsigned char data) { LCD_data = data; //Function set: 2 Line, 8-bit, 5x7 dots Delay(1); LCD_rs = 1; //One= Data Mode Delay(1); LCD_en = 1; //Enable H->L Delay(1); LCD_en = 0; Delay(1); } /** * We can pass the string directly to the function for printing to the LCD. * example function call: LCD_sendstring("LCD Is Alive!"); * *stringtoprint Void */ void LCD_sendstring(unsigned char *stringtoprint) { while(*stringtoprint) //till string ends LCD_senddata(*stringToPrint++); //send characters one by one } /** * Still working on this. * * Go to position (X,Y),and write a string beginning at that position. * X=0 X=20 * * Y= * * * Y= * **************************************************** * * example function call: LCD_sendstringXY(0,1,"<**************>"); * X column of the LCD Y row of the LCD void LCD_sendstringXY(unsigned int x, unsigned int y,unsigned char *stringtoprint) { } */ /** * LCD test function to build a Bell at location 2 */ L-3

41 void LCD_build() { LCD_command(0x0048); //Load the location where we want to store LCD_senddata(0x0004); //Load row 1 data LCD_senddata(0x000E); //Load row 2 data LCD_senddata(0x000E); //Load row 3 data LCD_senddata(0x000E); //Load row 4 data LCD_senddata(0x001F); //Load row 5 data LCD_senddata(0x0000); //Load row 6 data LCD_senddata(0x0004); //Load row 7 data LCD_senddata(0x0000); //Load row 8 data } /** * Still working on this. * * This subroutine displays the custom character at the location specified given * a pointer to the pattern data. * * * Usage: * pattern[8]={0x04,0x0e,0x0e,0x0e,0x1f,0x00,0x04,0x00}; * LCD_build(1,pattern); * location: location where you want to store: 0,1,2,...7 ptr: Pointer to pattern data * */ void LCD_build1(unsigned char location, unsigned char *ptr) { unsigned char i; if(location<8){ LCD_command(0x40+(location*8)); for(i=0;i<8;i++) LCD_senddata(ptr[ i ]); } #endif // LCDv2_H L-4

42 Program 2: /** LED Test Code - Jason Terhune * * Documentation is formatted so that Doxygen will be able to produce a HTML * quick reference to documentation. Information about Doxygen can be found at * * * This code cycles, scrolls through 8 LED's in a back and forth fashion, FOREVER. * void (main) calls the subroutine Rock1 inside an intentional infinite while loop. * The purpose of this code is to test the ability to configure a dspic6015 Port for * output. Also, I am trying to successfully flash the program to memory! */ #include<stdlib.h> #include<p30f6015.h> _FWDT(WDT_OFF); // Watchdog Timer Enabled/disabled by user software #define CrystalFreq // Crystal Oscillation frequency #define Millisec CrystalFreq/7378 // 1 millisecond delay #define PINS 8 // Total number of E pins void Rock1(); // Function declaration /** * Subrotine will send a high signal to desired pin. PinNumber Void */ void EPinOn(int PinNumber) { switch(pinnumber) { } } case 0: case 1: case 2: case 3: case 4: case 5: case 6: case 7: default: PORTEbits.RE0 = 1; break; PORTEbits.RE1 = 1; break; PORTEbits.RE2 = 1; break; PORTEbits.RE3 = 1; break; PORTEbits.RE4 = 1; break; PORTEbits.RE5 = 1; break; PORTEbits.RE6 = 1; break; PORTEbits.RE7 = 1; break; break; /** * Subroutine will send a low signal to desired pin. PinNumber Void */ void EPinOff(int PinNumber) { switch(pinnumber) { } } case 0: case 1: case 2: case 3: case 4: case 5: case 6: case 7: default: PORTEbits.RE0 = 0; break; PORTEbits.RE1 = 0; break; PORTEbits.RE2 = 0; break; PORTEbits.RE3 = 0; break; PORTEbits.RE4 = 0; break; PORTEbits.RE5 = 0; break; PORTEbits.RE6 = 0; break; PORTEbits.RE7 = 0; break; break; L-5

43 /** * Subroutine will create a delay in milliseconds. nummilli - Number of milliseconds needed. Void */ void Delay (int nummilli) { int z; while (nummilli--) { for(z=0 ; z < Millisec ; z++){} } } int main(void) { PORTE = 0; TRISE = 0x0000; // Clear port E // Set port E as output only while(1) { Rock1(125); } } /** * Subroutine will cycle blinking LEDs in a back and forth sequence. delay - How long lights will stay on/off during blinking. Void */ void Rock1(int delay) { int pin; for(pin = 0; pin < PINS; pin++) { EPinOn(pin); Delay(delay); EPinOff(pin); } for(pin = PINS; pin > 0; pin--) { EPinOn(pin); Delay(delay); EPinOff(pin); } } L-6

44 Appendix M: Flow Charts

45 Software development Description of flow chart: ConfigPorts is a subroutine to set up ports for either input or output. ConfirmationBeep will send a short audible beep to the user through the alarm circuitry to ensure power is achieved. During the startup procedures the user is notified via the LCD screen. M-1

46 Appendix N: Power Supply

47 Data sheet (paragraphed): N-1

48 N-2

49 N-3

50 N-4

51 Schematic: N-5

52 N-6

53 Appendix O: LM741 OpAmp

54 O-1

55 O-2

56 O-3

57 O-4

58 O-5

59 O-6

60 O-7

61 Appendix P: L293D Quadruple Half-H Drive

62 P-1

63 P-2

64 Appendix Q: UF4001 Diode

65 Q-1

66 Q-2

67 Q-3

68 Appendix R: LT1637 OpAmp

69 R-1

70 R-2

71 Appendix S: Battery PS-12120

72 S-1

73 S-2

74 Appendix T: All possible LCD content

75 ...Wait While....PEZ Pill Dispenser....Starts Up Enter Last Name _... Press # when finish Enter medication name. _... Press # when finish Enter amount of pills in dose x _. Press # when finish Would you like to enter another med? 1 = yes 2 = no :00am PEZ Pill Dispenser Enter PIN Are you still there? 1 = yes 2 = no Which Med? 1.ggg 4.jjj 2.hhh 5.Back 3.iii 1.Delete dose 2.Add dose 3.Back A dose is ready. Only three days left Enter PIN No User Data Present Enter First Name _... Enter User PIN _... Press # when finish Enter total pills adding to bin. _. Press # when finish Time alarm should sound for dose x? _. Press # when finish Set date/time below :00am Press # when finish 1 = Change User Data 2 = Change Med Data 3 = Set Date/Clock 4 = Back 1 = Add Med 2 = Remove Med 3 = Alter Med 4 = Back Alter? 1.Name 4.Back 2.Total 3.Dose Which dose? 1.x:xx 4.x:xx 7.Back 2.x:xx 5.x:xx 3.x:xx 6.x:xx Enter First Name _... Are you ready to enter medication data? 1 = yes 2 = no Doses of medication needed per day? _. Press # when finish Empty pills into bin x Press # when finish :00am PEZ Pill Dispenser Press # for Menu 1 = Change First 2 = Change Last 3 = Change PIN 4 = Back Which Med? 1.aaa 4.ddd 7.More 2.bbb 5.eee 8.Back 3.ccc 6.fff Enter new total _. Press # when finish A dose is ready. Enter PIN T-1

76 Appendix U: Speaker GC0251K-CUI

77 U-1

78 U-2

79 Appendix V: LM555 Timer

80 V-1

81 V-2

82 V-3

83 V-4

84 V-5

85 V-6

86 V-7