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'-----------------------------pwm1mc7mtr.bs2-----------------------------
' written by Carl A. Kollar
'Purpose: To demonstrate the control by BS2 of the MC7 motor
' controller described on this web site. Can be used with
' either 12 or 24 volt models.
'
'Motor action: The motor (1) Gradually increases in speed in the forward
' direction until it reaches full speed. (2) Gradually
' reduces speed until it stops. (3) Gradually increases speed
' in the reverse direction until it reaches full rev. speed
' (4) Gradually decreases speed until it comes to a stop.
' (5) Does it all over again.
'---------------------Define Constants & Variables-------------------------
enable_port con 0: low enable_port 'disable MC7 while initializing
pwm_out_port con 1
fwd_port con 2
rev_port con 3
duty var byte
cycles var byte: cycles = 10
min_speed var byte: min_speed = 52 'pwm value for 1.0V out
max_speed var byte: max_speed = 165 'pwm value for 3.2V out
x var byte: x = 0 'counter variable
pause_time var word: pause_time = 15 'pause between counter increments
max_speed_time var byte: max_speed_time = 150
'------------------------Initialize----------------------------------------
low fwd_port 'Put MC7 in "neutral" by making both direction ports low
low rev_port
high enable_port 'enable the controller
'----------------------------The Main Program-----------------------------
' (All sub-routine names are self-explanatory)
main:
gosub set_forward_direction
gosub min_to_max
gosub max_to_min
gosub set_reverse_direction
gosub min_to_max
gosub max_to_min
goto main
'***************************Sub-Routines**********************************
'Bring motor speed gradually from a stop to full speed
min_to_max:
for x = min_speed to max_speed 'gradually increase speed
pwm pwm_out_port,x,cycles
pause pause_time 'wait specified time
next
for x = 1 to max_speed_time 'stay at max. speed for awhile
pwm pwm_out_port,max_speed,cycles
next
return
'-------------------------------------------------------------------------
'Bring motor speed gradually to a stop from full speed
max_to_min:
for x = max_speed to min_speed 'gradually decrease speed
pwm pwm_out_port,x,cycles
pause pause_time 'wait specified time
next
return
'------------------------------------------------------------------------
set_forward_direction:
high fwd_port 'enable forward
low rev_port 'reverse not enabled
return
'-------------------------------------------------------------------------
set_reverse_direction:
low fwd_port 'forward not enabled
high rev_port 'enable reverse
return
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