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Digital Control Unit (DCU) Manual

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1. x x iE oe ee a E iw ign tow rion x x Ra ee ee eee tow tow high rion x x x x Leva lar a ata ee eS es i a ar ee eae a ial Se SS 9 The best way to experiment and learn about writing programs for the ULI is to use a telecommunications program to communicate with the ULI as if it was another computer connected via the serial port which it is This can be done using any computer which has a free serial COM port Macintosh The Macintosh ULI Starter Stack which is included in the ULI Software Developer s Toolkit order code ULI SDK 15 can be used to simultaneouly control the first two digital lines D1 and D2 and read signals from sensors connected to the ULI This Hypercard stack can be edited by anyone who owns Hypercard Hypercard was distributed free with Macintosh computers for many years REALbasic can also be used Windows Visual Basic is an easy way to write programs to control the DCU in the Windows environment 68 Appendix Sources of Electronic Devices Here are some sources of electronic devices such as lamps LEDs motors buzzers solenoids and stepper motors All Electronics 9005 S Vermont Avenue Los Angeles CA 90006 800 826 5432 allcorp allcorop com http www allcorp com good for stepper motors DC motors and new or surplus items of all kinds Mouser Electronics 958 N Main Mansfield TX 76063 4827 800 346 687
2. If you take non real time data you need to send a g command after LabPro has collected the data to get the data back 39 User s Manual Digital Control Unit Continuous Data Collection Often you will want the LabPro to collect data continuously This is usually done by using command 3 with 1 in the place of the number of samples causing the LabPro to collect data for an unlimited number of data samples When you do this Visual Basic sends back data and it will be processed properly in the LabPro Oncomm sub if the Rthreshold value of the LabPro control is set to 32 bytes If you want to deal with this continuous stream of data in another part of the code set Rthreshold to 0 The DCUTEMPC program is a good example of this kind of programming It uses a 1 in the 3 command and monitors a temperature as this loop continues If the temperature hits certain limits the program branches to other code Code that does the turning on and off of the lines is in ONCOMM sub Format of LabPro Data LabPro sends data back in a format similar to this n nnnnnE nn In order to get this data translated to floating point numbers we use a Mid function in Visual Basic to select only characters 3 17 from the string This command looks like Mid string name 3 14 where 3 denotes the starting point in the string VB is ones based not 0 like many other programming languages so the first character in a string is denoted by a 1 and 14 tells Vis
3. 46 Digital Control Unit User s Manual Connecting Devices to the DCU For connecting electrical devices use the 9 pin sub D socket on the side of the DCU There are connections for all six digital lines plus power and ground The pinout is shown below looking at the holes on the socket on the cable This is an easy thing to confuse these are not the pins on the DCU box The End of the Cable that Plugs into the DCU Looking at the Holes The holes labeled 1 2 3 4 5 and 6 are the digital output lines G is for ground and is for the power from the power supply of the DCU We provide one cable to plug into this socket with the lead wires identified for you to use on your first projects To build most projects you will want to make connections to this cable For testing twisting the wires together is probably ok but eventually you will want to solder the leads Whatever you do make sure you insulate the leads so that they cannot accidentally touch each other As you build devices to connect to the DCU always keep the power limitations of the DCU in mind For the entire DCU it should not exceed the current limit of your power supply This limit is 300 mA when using the CBL power supply 600 mA when using the LabPro power supply and 1000 mA when using the ULI power supply If you are using a different power supply check the current rating In general you will not damage the DCU by trying to draw too much current but the
4. This situation can be avoided by using 1 Channel 14 instead of 1 Channel 1 If however an actual auto id sensor is being employed and data is needed for feedback it may be necessary to send the 1 Channel 70 Digital Control Unit Appendix E 1 command In these cases send a digital outputs off command 2001 0 immediately after the 1 command is sent There will still be a brief time where D3 is high but the digital outputs off command will lower it quickly 2 Data Type command This command is not used should not be sent 3 Trigger setup command This command is nearly identical to the original CBL However there are a number of subtle differences which must be taken into account The format is almost identical i e 3 sample interval number of samples trigger type trigger channel trigger threshold pre store extclock ignored rectime filter fastmode Each of these parameters is discussed below Sample Interval Any number between 0 0001 seconds and 16000 seconds If fastmode is being used the sample time can be as small as 0 00002 seconds See the fastmode discussion below for further restrictions on this parameter Number of Samples Any integer from 1 to 12 287 for non real time mode or 1 for real time mode In non real time mode there will be the requested number of samples taken at the requested interval The first sample will be taken at time 0 the second sample at
5. Use the following pattern on your 1 and 3 commands 11 31 22 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 5Le Set up digital output pattern with 21 on s and then an off Send Le 13 0 385 21 22 0 5L6 Go through 22 steps Send Le The trick here is that you are in effect turning on the device in this case connected to D1 twenty one times in a row and then turning it off The total on time is 0 385 seconds The advantage is that you can specify the time exactly getting around the 0 25 second resolution limit This trick will work for times out to 4 2 seconds 21 times 0 20 seconds Use this idea only when you need precise timing in the time range between 0 20 seconds and 4 2 seconds For times greater than 4 2 seconds the resolution is limited to a quarter of a second 38 Digital Control Unit User s Manual Additional Notes on Visual Basic Programming This section offers specific tips for people writing Visual Basic programs We hope to warn you about some of the things that can cause confusion when you start DCU programming How Visual Basic Programs are Saved on Disk A Visual Basic program is saved as a number of different files There is a file for each of the forms frm a project file vbp and a few other files This can be confusing when you first begin your programming efforts To open a project open the vbp file This will open all of the related files as well including all the code in that project All of the
6. it must be an even quarter second For example 1 75 s is ok 1 8 s is not numsamp the number of steps to take through the sequence This can be any integer from 1 to 512 for the original CBL or any integer up to 12 287 for CBL 2 or LabPro or 1 see below Note that this number does not have to match the number n used in the Command 1 For example in the sample program above n is two there are two elements in the sequence The numsamp used in Command 3 is eight This means that the program will go through eight steps When it finishes the pattern specified in Command 1 it will start through the list again Think of the pattern as a loop that will be worked through as many times as needed until all the steps have been executed trigtype trigger type The default value of this parameter is 1 which is for manual trigger You have to press a button on the CBL LabPro to start the digital output going You usually do not want this so almost always use a zero here This will have the digital output start as soon as the program executes the step See the later section for more information about triggering So what does the sample program above do It has the digital output lines go through the following output sequence 7 0 7 0 7 0 7 0 The sequence 7 0 was specified in the Command 1 line and this pattern is repeated until 8 steps are made as specified in Command 3 If the DCU was connected when this program runs the first three red LEDs wo
7. DCU not responding properly and perhaps the green LED will dim or even go out Disconnect the device immediately Remember that Ohm s law controls the current that flows through the device Current amperes Voltage volts Resistance ohms In some cases you can check the resistance of the device with a meter and calculate how much current it will draw using Ohm s law Connecting One Simple Non Polarized Device To connect a simple non polarized electrical device such as a lamp DC motor not a stepper motor resistor or electromagnet that you just want to turn on or off use this wiring pattern GNG Wiring a Simple DC Electrical Device The device is shown in this diagram as a small lamp but it could be any electrical device that does not have positive and negative leads Connecting More Than One Simple device If you want to wire a number of simple electrical devices repeat this wiring using additional digital output lines The wire to hole 8 can also be used for ground connections These devices will be turned on when the corresponding D line is on see table in hardware section Wiring of Several Simple Electrical Devices 48 Digital Control Unit User s Manual Connecting a Speaker If you connect a small speaker to the DCU you will probably want to put a resistor in series with it so that the speaker is not too loud The resistor should be a power resistor rated at least at 0 5 watts and a fairly
8. Digital Control Unit accordingly Change the value of T in the first line to control the speed 64 Appendix Selected DCU Calculator Program Lists Here are some of the DCU programs listed for you to examine The programs listed here are TI 83 versions but the versions for other calculators are similar To see versions of the same programs for other calculators simply open the appropriate version of the program from the disk using TI GRAPH LINK You can also use TI GRAPH LINK to modify print and move these programs to your calculator Program DCUSTEP prgmDCUINIT 1 gt T ClrHome Lb1 A If T gt 20 round 4T 45T Disp T T Disp ENTER DIRECTION Disp OR 1 Prompt D Disp NO OF STEPS Prompt N C1rHome prgmDCUSTEP1 Goto A prgmDCUOFF Program DCUSTEP1 Lb1 A If D 1 Then 1 31 4 5 9 18 6 Le Else 11 31 4 6 10 9 5 5L6 End Send Le 1 1 14 gt Le Send Le Disp DIRECTION D Disp STEPS N 13 T N 015Le Send Le Get I 11 31 1 0 5L6 Send Le 13 1 1 01 5L6 Send Le Get I 65 Program DCUMASS prgmDCUINIT 11 1 14 5L6 Send Le 11 31 5 1 2 4 8 0 5L6 Send Le Disp FIRE 13 12 5 0 5L6 Send Le Get I prgmDCUOFF Program DCUWARNV prgmDCUINIT ClrHome Disp SET LIMIT Prompt V prgmDCUWAITV Disp LEVEL Disp EXCEEDED Disp OUTPUT 1 ON 15D 5 gt T prgmDCUPWRON prgmDCUOFF Program DCUALARM prgmDCUINIT Disp ENTER DISTANCE Disp LIMIT Inp
9. Ina ce T iss Din SubRoutinestopbuttonciic C Ahdi Use Patt me TET nS co stop ky p Private Sub trap_Click g peuvarte DoupuRow i 1 DCUPULSK 2 End Sub Private Sub Check Click DCUCHEP End Sub stat AE BHP Lasenet 4000 Series P Cusen PRISES Publ 5 My Yahoo for helmanic B Project Microsoft V Figure 7 Find and Replace dialog for XMComm Note that the text we are searching for is LabPro input and we wish to replace that text with LabPro inputdata The Search parameters should be Current Project to search through all the code associated with this project and the search should include the whole word only to eliminate possible conflicts Press the Replace All button and the necessary changes will be made After you make all of these changes try running the program If it all works well save the changed version Note that the new version will not work on another computer unless the XMCOMM control has been installed Summary This is all that you need to do to get our DCU programs working with the Learning Edition of Visual Basic 6 You can now run this program just as we outline in earlier sections of this manual The bad news is that you have to go through some of these steps for each program Once you get the changes in mind they only take a few minutes Here is a summary of the changes 77 Digital Control Unit Appendix F Do one time on you
10. LINK except TI 82 and TI 85 have built in tools to make writing lines of code for the CBL LabPro easier Check the TI GRAPH LINK manual for information on how to use this feature Using 1 in the Command 3 Line of DCU Calculator Program As with programs for sensors you can use 1 as the number of readings in the command 3 line In this type of program the CBL LabPro will step through the patterns of outputs each time the Get command is encountered You must set up a sensor channel and then use a Get command to step you through the pattern Here is a sample program showing how the DCU can be controlled in this way prgmDCUINIT Initialize the CBL LabPro 1 1 14 5 Le Set up CHI to read a sensor Send Le 1 31 6 1 2 4 8 13 14 gt Le Set up digital output to turn on six lines in order one at a time Send Le 3 1 1 0 gt Le Set up the CBL LabPro for one step at a time Send Le Lb1 A Label for looping Get I Get the meaningless reading from the CBL LabPro Goto A Repeat This program turns on the six lines of the DCU one at a time in order Notice that the timing of the program execution is still controlled by second number in the 3 command If you are using an original CBL there can be some extra time delay between steps because the original CBL waits for each GET command before moving on to the next step If you try to go through a pattern too quickly then the speed will be limited by the looping time of the calculator progra
11. a buzz from it Then the LEDs on the DCU should cycle through the 16 outputs more slowly than before This is an example of how Visual Basic code is used to control the DCU Visual Basic is an extremely powerful programming tool but like most programming languages you must become familiar with the commands and syntax of the language For more information about programming in Visual Basic read the manuals and help files that came with Visual Basic Bookstores often have an entire Visual Basic section of books that will help you learn more Also you need to learn the commands used to control LabPro and the DCU For this read the later sections of this manual especially Additional Notes on Visual Basic Programming Also refer to the LabPro Technical Reference Manual The best advice we have is to experiment Try things out see if they work The best way to learn programming is to actually do it 16 Digital Control Unit User s Manual First Use of the DCU with REALbasic Macintosh Introduction This reference guide is intended to be used by people who want to get their DCU up and running as quickly as possible using a Macintosh computer RealSoft s REALbasic 2 1 2 and a Vernier LabPro This is not a comprehensive manual for REALbasic We try to make things as simple as possible and allow you to start using the DCU quickly We do assume however that you have read the DCU manual This manual was written for use with REALbasic 2 1 2 ot
12. and 5 kHz No digital outputs can be used if fastmode is enabled 5 Data Control command Same as original CBL 6 System Setup command Sending a 6 0 will abort sampling but retain the data in the buffer and adjust any system parameters to suit such as number of samples available number of data points etc Sending a 6 3 will turn the sound off default Sending a 6 4 will turn the sound on 71 Appendix E Digital Control Unit 7 Request System Status command Sending 7 and performing a Get request will return more information than the original CBL For the new format see the CBL 2 LabPro technical reference manuals Programming Tips With some minor modifications almost all of the programs written for the original CBL and DCU CBL can be made to work with the new platforms There are a few universal changes which should be made In almost every case the command 1 1 1 should be changed to 1 1 14 There should be an effort made to distinguish between the old and the new interfaces The 102 command will cause an error if it is sent to the original CBL but it should always be sent to the new interfaces to ensure the proper power state Checking the dimension of the list returned from a 7 command between 7 and 10 for original always 17 for new is one way to distinguish between the old and the new This is done in the DCUINIT program There are some differences in triggering response which can be m
13. and DCU are still doing something with the digital output lines This is because the CBL LabPro got its command to do the sequence of outputs and they are continuing even though the calculator went on executing the rest of the program A slightly different situation happens when you send commands to the CBL LabPro to have the DCU do something else before the first operations sent are completed Consider this program for example prgmDCUINIT Initialize the CBL LabPro 11 31 2 7 gt L6 Set up digital output to turn on and then off the first three lines Send Le 13 1 10 075L6 Go through 10 steps taking 1 second for each step Send Le 11 31 1 075L6 Set up digital output lines for turning power off to all lines 3 1 1 0 gt Le Turn power off Send Le If you try this program it will not operate the way you might expect If the DCU is connected you might expect to see the first three red LEDs flash on and off for ten seconds and then the power should go off Instead the LEDs will briefly flash but the program quickly ends with the power turned off Why The problem is that the CBL LabPro starts executing the sequence of 10 steps but then is sent a new command telling it to turn the power off It interrupts what it was working on and follows the new instruction There is a solution to these problems The trick is to have the CBL LabPro do a probably unnecessary sensor reading at the same time Then you can use a GET calculator progr
14. circuit will not work properly It may also be possible that you could damage the power supply The current draw for any one line should not exceed 600mA no matter what Making Additional Cables to Connect Projects to the DCU If you need additional cables you can find the 9 pin sub D sockets at most electronic stores for example part number 276 1538 from Radio Shack will work You would have to solder lead wires to each of the connections you use Even better is to find assembled cables that you can use for example Radio Shack 26 152 can be cut in half to produce two useful cables To identify the lead wires on a cable use a meter which will indicate conductivity The meter allows you to determine which wire on your cable connects to each of the holes on the connector The easiest way to do this is to stick a paper clip in one of the holes on the plug Connect one probe of the meter to this paper clip inserted in a hole in the end of the cable and then touch each of the bare wires with the other probe until you find one that connects meter reads near zero resistance This is even easier if your meter has a setting to make a sound when conductivity is found As you determine the pattern of wires either label the leads or make a table indicating a color code of the wires to each hole Safety Note When making your own cables if you leave the wire exposed and it touches a ground wire you could have a direct short of the DCU power supply If
15. for the DCU Additional Notes on Calculator Programming Also you will need to refer to the manuals that came with your calculator for programming information Study the sample programs that we provide for the calculator you are using see Appendixes A and B Load our sample programs onto your calculator and experiment with modifying and running them You may want to refer to the CBL System Guidebook which is included with every CBL or Getting Started with the CBL 2 which is included with every CBL 2 If you are using LabPro you may want to refer to the LabPro Technical Reference Manual The LabPro manual is available free on our web site www vernier com e If you want to start writing computer programs for controlling the DCU In addition to the suggestions above study these sections More About the Sample DCU Programs Included on the Disks Programming the CBL LabPro for Data Collection Programming for the DCU Additional Notes on Visual Basic Programming Windows computers only or Additional Notes on REALIbasic Programming Macintosh computers only Also you will need to refer to the manuals that came with your computer programming language Study the sample programs that we provide for the computer programming language you are using Open our sample programs with your computer and experiment with running and modifying them You may also want to refer to the LabPro Technical Reference Manual e Ifyou are interested in building electri
16. it reads LabPro Write s 3 2 17 0 chr 10 Now let s enter the code to make the speaker buzz The REALbasic programs all include a number of subroutines stored in methods for you to use One of them is named DCUBUZZ and it does exactly what we would like If you look down this list at the left side of the window you shall see a heading labeled Methods Click on this entry to expand it Once it expands you shall see many entries in the left side of the window This is a list of the Methods that we have written to aid you in developing your applications We can add this method to our code The DCUBUZZ method requires two parameters the frequency of the buzz in hz and the length of the buzz in seconds Here is what the DCU Start button code will look like after adding in the appropriate DCUBUZZ command Sub Action DCUBUZZ 50 5 LabPro Write s 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 chr 10 LabPro Write s 3 2 17 0 chr 10 End Sub Note that the 50 is the frequency that we specified before and the 5 is the length that we want the buzz to last Now add this line to your program and try running it again select Run from the Debug menu If you have a speaker handy connect it between the D1 and Ground lines When you click on the Start button you should see the 1st DCU channel flicker for 5 seconds and if you have a speaker hear a buzz from it Then the LEDs on the DCU should cycle through the 16 outputs m
17. lines of the DCU The words LabPro Found should appear in the ListBox at the bottom of the screen if all your hardware is connected properly If there is a problem with the hardware you will see an error message Double check your connections If that does not help try removing the power from the LabPro and then reconnecting it The six buttons on the screen correspond to the DCU lines 1 6 This program will allow you to turn these lines on and off Try clicking the mouse on the 1 button on the screen The red LED labeled should go on Press the button again and it should go off Try to turn on and off the other LEDs using the 2 through 6 buttons on the screen Note that there are some combinations of LEDs that are not allowed so that in some cases when you turn on an LED some others may go off The DCUTOGGL program is very useful in testing hardware for your future projects that you connect to the DCU Note that the Start button does nothing in this program It is there to maintain consistency with our other programs When you are finished experimenting with the DCUTOGGL program click on the Stop button to terminate communication with LabPro and then quit the program Visual Basic will still be running Opening the DCUCOUNT Program Choose Open Project from the Visual Basic File menu and navigate to DCU sample programs and within that folder to the folder labeled DCUCOUNT Within that folder is a file called DCU vbp Open this file Resp
18. low resistance The larger the resistance the quieter the speaker will be When using a speaker you must use a program that turns the power to an output line on and off at a frequency of a hundred hertz or so Our sample program DCUBUZZ does this Wiring a Speaker Connecting a Polarized Electrical Device Some electrical devices are polarized that is they have a positive and a negative side They therefore must be wired in one particular way for use with the DCU Examples include some buzzers a few lamps and complex electronic devices LEDs are given special treatment below For devices that have positive and negative sides make sure you connect the negative side to ground Devices wired this way will be on any time D1 is high Wiring a Polarized Electrical Device with Positive and Negative Leads You can wire up to six polarized devices in the same way using connections 1 6 for the positive leads and the G connections for the negative leads 49 Us er s Manual Digital Control Unit Connecting an LED LEDs have positive and negative sides so make sure you connect the negative side to ground Also most LEDs need to be wired with a resistor in series with them in order to limit the amount of current that flows Typically this resistor has a value of 220 ohms or so Check the specifications on your specific LED if possible On an LED the flattened side is the negative side Wiring a LED with Posi
19. make another change In the 3 command the second number is the time which really does not matter in this case The next number is 1 indicating just one step When you execute these steps you simply set the status of the digital output lines as specified by Setting the DCU Output to a Steady LabPro and CBL 2 Only If you are using a CBL 2 and LabPro the command 2001 makes it easy to set the output pattern of the DCU To use it you simply use Send Out 2001 D Where D is the output pattern you want to set and hold It can be any integer from 0 to 15 For example if you want to turn on the first three digital lines use 2001 7 Having the DCU Output Hold a Setting for a Specific Time Many times you want to turn on a line for a specific time period To do this use Commands and 3 in this way Send Out 1 31 2 D 0 Send Out 3 1 2 0 In this case the output pattern has two elements D the pattern you want to set and hold and 0 The CBL LabPro will set the DCU output as you want and leave it that way for the time you used in the Command 3 line unless you send another command to the CBL LabPro before the time is up Here is an example To turn just the first digital output line on and leave it on for exactly 5 seconds use Send Out 1 31 2 1 0 Send Out 3 5 2 0 Power Control on LabPro and CBL 2 Only Command 102 is used for power management with CBL 2 and LabPro We use this command in the DCUINIT subprogram to set t
20. motor that uses an IC controller Line D1 is pulsed to move a step and line D2 is used to set the direction of movement Waits for a photogate connected to digital channel 2 to become blocked Waits for the motion detector to read an object closer than a specified distance The key ends this program Waits for a photogate connected to analog channel CH1 to become blocked Waits until the signal level on channel one exceeds a specified value DC motor control program Used to move DC motor controlled car Takes direction and steps as an argument and moves accordingly Stepper Control Program Used to move a stepper driven car Takes direction and number of steps as arguments and moves 63 Appendix A T Time less than 5 seconds on original CBL must be predefined D T Time and D digital output must be predefined D Direction and N Number of Steps must be predefined D Direction and N Number of Steps must be predefined V Distance limit V Minimum Value must be predefined T Time and D Direction 1 forward 2 backward 3 left 4 right N Steps and D Direction 1 forward 2 backward 3 left 4 right Use with all three the 5 second limit only applies to the original CBL Use with all three the 512 point limit only applies to the original CBL LabPro Only CBL and LabPro have unique programs CBL 2 does not have this functionality Appendix A
21. ose eie doe pl e ted dd eco dede oie eee de teca 47 DEU Project Id as rr onte o GR P D RR OR PE te REESE cap PDA EEEE E ERR OPER MED shes 54 Appendixes A Sample Programs and Subprograms eese eene enne enne neen enne ne enee trennen enne tes innen enne nein tn treve seneese sesde vns 59 B Selected DCU Calculator Program Lists ener neen trennen SKE SEENE TE EE EET E tret teee tren trennen 65 C Usiig the DCU with a ULL on hon Creer ese en aid cn ei tette belie per lei certet eren b od o reo basen frs 67 D Sources OF Electronic Devices nie eb entente tp He coepere p R a etd p ee i ee E Here ed e ui e ect 69 E Differences Between the Original CBL and CBL 2 LabPro sesseeseseseseeeseeeeeee eene nennen rennen tenentem nen 70 F Using Visual Basic Learning Edition With The DCU sse eene nennen nene netten tenerent nre 74 G Verner AOO iD e1 KEENER EEES T EAEE ES EEE EEE EEE EEE BREE GS 79 How to Use This Manual The Digital Control Unit can be used with the original CBL and the CBL 2 from Texas Instruments and the Vernier LabPro In most cases the operation of the DCU is similar with all three interfaces In those cases we will use the generic term CBL LabPro to refer to any of the three In a few cases where there are differences between the interfaces we will use the specific name to refer to the interface This manual assumes that you are somewhat famili
22. out so that the LabPro will know that it has received an entire command Now let s look at the commands we wish to send in this example We first want to initialize the Dig Sonic port with the 1 command is 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 The code to initiate the outputs to the DCU is 3 1 17 0 This is the code that we see in the subroutine for clicking the Start button is executed LabPro Write s 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 chr 10 LabPro Write s 3 1 17 0 chr 10 21 User s Manual Digital Control Unit Modifying the Program It s now time to customize the DCUCOUNT program and make it do something different We are going to make two changes We will modify the program to make it buzz a speaker at 50 hz for 5 seconds before the counting sequence starts and also modify the program to make it go through the counting more slowly The speaker hardware is not really required If you don t have a speaker that you can connect to the DCU you will be able to visually check and make sure the program is doing what it should This is the code that we see in Start button code LabPro Write s 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 chr 10 LabPro Write s 3 1 17 0 chr 10 The easy change to make to the code is to change the rate of going through the sequence The second number in the 3 command sets the time between steps of an output sequence Change the line so
23. period of time or running a stepper motor Most of the operations that you will want to do with the DCU are handled in these subroutines Using the subroutines you can write useful DCU programs without being an expert programmer Documentation for all of the sample programs and subroutines is provided in this manual Examples of How You May Want to Use the DCU The DCU is designed to let students and teachers experiment with the CBL LabPro Digital Out lines For starters you can experiment with turning on and off the red LEDs inside the DCU box learning how the lines are controlled in programs Later you will probably want to build electrical projects that you control In the process you will learn a lot about electronics and programming Listed below are some of the projects we have built at Vernier You probably have some better ideas of your own Flashing DC lamps and LEDs Activate electromagnets in sequence to accelerate a magnet Turn on and off DC motors and operate them in either of two directions Control stepper motors directly or through stepper motor control ICs Temperature controlled environments User s Manual Digital Control Unit Pulse a speaker to generate sound Add a buzzer to the CBL LabPro to warn you when an event occurs Live traps for small animals activated by a sensor detecting the presence of the animal A CBL LabPro controlled car with sensors and feedback Automatic tea brewer Moving displays to get people s attent
24. precision in the positioning of the stepper motor The Wave method of driving a stepper motor has only one electromagnet on at a time therefore it uses less electricity but the motor will have less torque The numbers in the right three columns in the chart also show the outputs used for driving the stepper motor in each of these methods The program for driving a stepper motor should go through the outputs as numbered for one direction of rotation and in reverse order for the opposite rotation For example a Normal stepper program will use the following two patterns for movement in the two directions e 5 9 10 6 for clockwise e 6 10 9 5 for counterclockwise Stepper Motor Stepper Motor Half Step Wave There are other ways to connect stepper motors If you use a stepper motor control integrated circuit IC you will need fewer wires to control the stepper motors This will allow you to control two stepper motors with the DCU One type of stepper motor control IC uses just two lines to control the stepper motor One line is held high or low to indicate the direction the motor should rotate The other line is toggled on and off one time for each step the motor is to move This type of stepper motor control IC is assumed for use with our sample program DCUSTEP2 Other stepper motor control ICs may operate differently 53 User s Manual Digital Control Unit DCU Project Ideas The exciting thing about the Digital Control Unit is the pr
25. program You may also want to try using three electromagnets that can switch their polarity Some commercial mass drivers operate this way 54 Digital Control Unit User s Manual Temperature Controlled Environment Combining sensors with control via the DCU allows you to experiment with feedback Projects of this sort are often educational and interesting Use any temperature probe connected to the CBL LabPro For heating air you can use a small lamp For heating a small amount of water you can use a simple resistor A fan can be wired to move air in for cooling The program DCUTEMPC can be used for this type of control It turns on a heater connected to D1 until the temperature reaches a specified temperature If the temperature exceeds another specified temperature it turns on a fan connected to D2 Live Traps Activated with a Photogate A fun project is to try to catch flies bugs or mice in a DCU controlled live trap The easiest way to do this is by using a photogate as a sensor to detect when the animal is in position to be captured Photogates have an infrared beam which the animal blocks sending a signal to the CBL LabPro When this happens you can have the DCU turn on a motor or a stepper motor to move a door to catch the animal We have used a guillotine style door a dropping box or a motor that hits the lid of a hinged box to knock it in place Be creative The program DCUTRAP2 is an example of a program that uses a DC mo
26. program that allows user to specify direction and number of steps lt 512 for the original CBL or 12 000 for CBL 2 or LabPro for a directly connected stepper motor unipolar or bipolar Change the value of T in the first 59 For stand alone programs a list of subprograms used in calculator DCUINIT DCUWAITM V DCUPWRON D T DCUOFF DCUINIT DCUWHEEL D T DCUOFF DCUINIT DCUWHELS D N DCUOFF DCUINIT DCUINIT DCUOFF DCUSTEPI DN DCUINIT DCUOFF CBL CBL 2 LabPro Notes CBL and LabPro only Note the DCUWAITM program is different for the two interfaces CBL 2 does not have this functionality Appendix A Digital Control Unit NENNEN 2 EN speed DCUSTEP3 T D N LP L5 Improved program that DCUINIT Use with all three the directly controls a DCUOFF 512 point limit only stepper motor This applies to the original version is best to use if CBL you plan to use the stepper motor for several different motions one after the other It keeps track of the stepper motor position as it moves N lt 512 DCUTEMPC W V S D Program that monitors DCUINIT temperature Turns on DCUOFF heater D1 if temperature is below minimum value W and turns on fan D2 if temperature is above maximum value V DCUTOGGL LiLojLs Program that allows DCUINIT LA N B W V K T the user to toggle the DCUOFF U digital lines with the keypad Note that it takes a second or two for this program to respond t
27. programs that come with the Vernier Software disks are contained in separate folders to keep people from confusing the forms and project files Each directory contains only one project file which is all you should ever need to open to access the code We suggest that when you start a Visual Basic project of your own that you copy the entire folder of one of our sample projects and give the folder a new name and then make your changes to the files in that folder This will give you access to all the Subs we have created and set up the simple form with a Start and Stop button and with serial communication set up correctly for LabPro Serial Controls Visual Basic programs that use the serial port work though a serial control The Enterprise and Standard editions of Visual Basic come with the MSCOMM serial control The Learning Edition of Visual Basic does not so we have an alternative control that you may use see Appendix F Regardless of the version of Visual Basic you are using we suggest renaming the serial control to LabPro and setting the following properties Comm Port default is 1 you need to change this if you use COM or another port Baud rate 38 400 Handshaking 0 Rthreshold size of the serial buffer 32 bytes Settings 38400 N 8 1 We have done all this in our sample programs If you do not start with one of our sample programs you will have to make these changes to the MSCOMM control If you ever need to change them select
28. provides a good way to learn about how LabPro functions Collecting Data as you Control Outputs The DCUTEMPC program is a good example of this kind of programming It uses a 1 command in the 3 command and monitors a temperature as this loop continues If the temperature hits limits the program branches to other code Making Sure LabPro Finishes before the REALbasic Program Moves On One thing that can cause confusion when programming the DCU is when the calculator goes on with its program before the LabPro has time to finish what it is doing For example you may send commands to the LabPro to have the DCU do something else before the first operations sent are completed Consider this program for example LabPro Write s 1 31 2 0 7 chr 10 Set up the digital output to turn the first 3 lines on and off LabPro Write s 3 1 10 0 chr 10 Go through 10 steps each taking 1 second LabPro Write s 2001 0 chr 10 Set up digital output lines for turning power off to all lines If you try this program it will not operate the way you might expect If the DCU is connected you might expect to see the first three red LEDs flash on and off for ten seconds and then the power should go off Instead the LEDs will briefly flash but the program quickly ends with the power turned off Why The problem is that LabPro starts executing the sequence of 10 steps but then is sent a new command telling it to turn the power off It interrupts what it was w
29. s 3 2 17 0 vbCrLf A slightly more difficult change is to modify the program to make it buzz a speaker at 50 hz for 5 seconds before the counting sequence starts The speaker hardware is not really required If you don t have a speaker that you can connect to the DCU you will be able to visually check and make sure the program is doing what it should All the Visual Basic programs we provide on the disks including DCUCOUNT include a number of subroutines or subs for you to use One of them is named DCUBUZZ and it does exactly what we would like We can have the program use this sub to get this job done DCUBUZZ takes two parameters the frequency of the buzz in hz and the length of the buzz in seconds Here is what the DCUStartButton_Click Sub will look like after adding in the appropriate DCUBUZZ command Private Sub DCUStartButton_Click DCUBUZZ 50 5 LabPro Output s 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 vbCrLf LabPro Output s 3 2 17 0 vbCrLf End Note that in the DCUBUZZ command the 50 is the frequency that we specified before and the 5 is the length that we want the buzz to last Now add the DCUBUZZ line to the program and try running it again Select Start from the Run menu If you have a speaker handy connect it between the D1 and Ground lines When you click on the Start button on the DCUCOUNT form you should see the 1st DCU channel flicker for 5 seconds and if you have a speaker hear
30. sensors that can be used with CBL CBL 2 or LabPro directly 58 261 61 191 99 142 Exercise Heart Rate Monitor 91 70 71 A co 00 79 Appendix G Digital Control Unit MG BTA MCA BTA MD BTD O2 BTA PH BTA M BTD H BTA 67 requires GPS BTA MS BTD MP BTA SRM BTD TRB BTA TCA BTA VPG BTD VP BTA 9 Additional Manuals There are a number of additional manuals that can help you use LabPro with a computer or calculator LabPro Technical Reference This reference provides detailed information on the LabPro hardware and the software command structure This manual is available free from our web site www vernier com Logger Pro User s Manual and Logger Pro Tutorials These manuals are a part of the Logger Pro package and included on the Logger Pro CD D DataMate Guidebook This guidebook provides a complete look at the DataMate calculator program This manual can also be downloaded from our web site www vernier com Lab Manuals Lab manuals in physical science biology chemistry physics and water quality enable you and your students to quickly begin using LabPro in the classroom and in the field Each manual contains e Ready to use student experiments e Teacher section for each experiment with complete directions helpful hints and sample graphs and data e Word processing files of the student sections on CD so labs may be edited to your specifications Here are the lab manual tit
31. should just use zeros for them Here are the important parameters the ones we have used in our sample program samptime the time between samples in seconds The range is 0 0001 to 16000 seconds On the original CBL if the number is greater than 0 25s it must be a multiple of 0 25 s that is an even quarter second For example 1 75 s is ok 1 8 s is not This limitation does not apply on CBL 2 or LabPro Numsamp the number of readings to be made For the original CBL this can be any integer from 1 to 512 Numsamp has a special meaning which will be explained below For CBL 2 or LabPro the number of readings can be any integer up to 12 000 Trigtype this specifies if the program should wait for a triggering event before starting the actual data collection 0 means no 1 means wait for the Trigger button on the CBL or the Start Stop button on CBL 2 Labpro to be pressed Other numbers can be used to specify triggering on a certain signal level The default is 1 which you usually do not want so you should almost always put a zero here rectime The ninth number in the command 3 list is the Time recorded Flag If 1 is used the default on CBL 2 and LabPro the CBL LabPro will collect the times at which each reading is taken If 0 is used the default on the original CBL times will not be recorded The last line of our sample program is used to retrieve data from the CBL LabPro Get Resulting Data get data measured valu
32. the DCU plus a 0 at the end We are going to modify this program first to make it count slower Then we will modify it to make it buzz a speaker at 50 hz for 5 seconds before it starts the counting sequence If you don t have a speaker that you can connect to the DCU you will be able to visually check the DCU LEDs to see if the buzz code is working Examine the program code on the calculator screen The details of doing this are slightly different on various TI graphing calculators On TI 73 TI 82 TI 83 and TI 83 Plus calculators you do this by pressing the PRGM key and then the right arrow to select EDIT and then the ENTER key Scroll down the list of programs until you come to DCUCOUNT and then press ENTER Refer to your calculator manual for information on how to do edit the code on other calculators The program should now be listed on the screen We said earlier that we wanted to output all the possible output codes to the DCU How is that accomplished Later sections of this manual will explain the commands to control the DCU in some detail we will just look at this one simple task for now The 3 command controls the output of the CBL LabPro In particular the numbers following the 3 are used as shown below 3 1 17 0 Le 3 number of seconds between steps number of steps triggering The second number is originally 1 so the steps of the sequence each last 1 second Try moving the cursor to the 1 and changing it to a 2 Then press 2 a
33. the DCU program open On the right side of the screen you will see a window labeled Properties On the left side of the screen you will see a window labeled Tools and another window labeled Colors For now we will ignore these windows In the center of the screen you should see a window labeled DCUTOGGL This is the important window for now Fille Edit Format Debug Window Help fy OCUTOGGLE O BlarkwaitTemp Ej CemrErrar Initial REALbasic Screen 17 User s Manual Digital Control Unit Let s try running this program Select the Run command from the Debug menu at the top of the screen This will bring up another window This is the user interface for the DCUTOGGL program You should see the user interface for the TOGGL program which includes Start and Stop button and buttons for controlling the six output lines of the DCU The words LabPro Found should appear in the ListBox at the bottom of the screen if all your hardware is connected properly You will get an error message if there is a problem with the hardware If this happens check the power to the LabPro and the serial connection to the Modem port If that does not help try removing the power from the LabPro and then plugging it back in The six buttons on the screen correspond to the DCU lines 1 6 This program will allow you to turn these lines on and off Try clicking the mouse on the 1 button on the screen The red LED labeled should go on Press the button again
34. the Professional and Enterprise editions This software is provided free of charge It is freeware written by Richard Grier of Mabry Softwware Inc Stanwood WA To get this software open you web browser and go to the address http ourworld compuserve com homepages richard_grier xmcomm htm You may want to spend a minute reading this webpage but we will tell you all you need to know to get this software working with our DCU programs At the top of this web page you will see a link named Download XMComm select this link and wait for the file download to finish This file is a compressed zip archive Once it has finished downloading expand this file You should find several files that are extracted from this archive Select the Setup exe file as shown below Double click this file and follow the installation instructions Project Mierosoft Visual r nolebprabmp Imesro _ YCAWINDOWS Deskt m Figure 1 XMComm installation routine Integration with Visual Basic Learning Edition Before proceeding with the integration of XMComm into Visual Basic we recommend that you make a copy of the sample programs folder make your changes only in that folder Open the DCU control program that you want to use with the Learning Edition of Visual Basic We have selected the DCUTrap2 program as our example program But the procedures outlined here will work with any of the programs If you try to run the program without modi
35. the serial control icon on the Design View of the user interface then edit the values in the list of its properties Getting Data Back from LabPro In Visual Basic programs that ask LabPro to return continuous data there are two ways to handle the data Normally whenever data is available on the serial port of the computer the sub LabPro OnComm automatically takes over and processes the data Because of the way data comes back from LabPro to read data in the LabPro OnComm sub you need to have the serial control set so that Rthreshold is 32 bytes It is unnecessary to make this change in the sample programs included on the disk because we have made the change for you but this change should be done if you want to start a new program completely from scratch The other way to process a continuous stream of data from LabPro is to set the Rthreshold value to zero This effectively turns off the LabPro OnComm sub If you do this you still need to deal with the data that comes into the serial port You can do this in the code that you write for example the code in the Start button subroutine You will see both approaches used in our sample programs Normally the Rthreshold value is set to 32 bytes so that LabPro data can be read properly Some programmers may want to set the Rthreshold value to zero all the time and deal with data as it comes in If you are used to simpler versions of BASIC which are not event driven this approach may be simpler for you
36. time Sample Interval and so on If a digital output has been commanded it will be enacted at the time of each sample In real time mode there is no limit to the number of samples taken since the interface stores only one sample at a time When using a CBL 2 or LabPro if the host does a Get request the interface will return a value and a time since the previous Get or roughly 0 seconds for the first Get In the same situation an original CBL would have returned only a single value and not the time Sampling will continue with other Get commands Even if no Get command is send the interface will continually sample at the given interval for ten samples or five seconds whichever is longer During real time sampling the digital pattern will be sent one element at a time at the beginning of each Sample Interval as long as sampling is still active Therefore if a Sample Interval of 5 seconds is commanded any digital output instructed will be enacted every five seconds whether or not a new Get request is sent The final digital output instructed by the final sample will remain until further commands are sent or the power command is anything other than 1 Note that the digital output pattern will begin being sent at time 0 while the first analog sample is not taken until time Sample Interval With the original CBL the digital output pattern will begin being sent at time Sample interval which is at the same time as the first analog sample
37. two wheels controlled by the DCU A third wheel rotates freely to allow the robot to turn You can have all of the following motions Forward Both motors moving forward e Backward Both motors moving backward e Turn Right Left motor rotating forward right motor rotating backward e Turn Left Right motor rotating forward left motor rotating backward 55 User s Manual Digital Control Unit The DCU was partly designed around this project There are output patterns for all of these motions using the D1 D2 D3 and D4 lines This allows you to move the robot anywhere you want Also we wanted you to have some other lines D5 and D6 which could be used for other operations For example you could have the robot move around until it reaches a position and then use D5 and D6 do something like sound a buzzer raise a flag pick up something etc The program DCUCAR is for this kind of robot A DCU Controlled Robot Using Stepper Motors Two stepper motors can also be used for the two wheels of the robot In general this gives you much better control of the motion of the robot but it will probably be slower to move The program DCUCARS is for use with this kind of robot Note that to control two stepper motors with a single DCU you must use stepper motor control ICs Sensor on a Robot for Feedback Try combining a robot with sensors to provide added control over its motion For example Mount a Motion Detector on the robot so that i
38. value of the variable D used to specify which outputs should be turned on Set the value of the variable T used to control the time the output is turned on Use the subroutine DCUPWRON to turn on the motor connected to D1 D 1 for 1 second T 1 Set D to 2 because the buzzer is connected to the D2 line Use the subroutine DCUPULSK to turn on the buzzer connected to D2 and leave it on until a key is pressed Notice that there is not much to the main program All the tricky stuff is done in the subroutines DCUINIT DCUCHKP DCUWAITP DCUPWRON and DCUPULSK Subroutines are used by jumping to them in the code with the value of certain variables set For example with the DCUPWRON subroutine you jump to it with D set for the digital output pattern you want on and T set to the time you want the pattern to stay on A complete list of all the DCU programs and subroutines is included in Appendix A of this manual How to Get Started with a DCU Programming Project When you start to write a program to control the DCU we suggest this approach First check to see if one of the sample programs we provide does what you need or most of what you need If so start with that program and modify it as necessary Check the list of programs in Appendix A In some cases you can just use our program as is For example if you just want a quick way of turning on or off certain output lines of the DCU just use the DCUTOGGL program If none of the progr
39. want to read the raw voltage from a non autoID analog sensor do not use a Command 4 Skip this line Another way of saying this is that if the sixth number in your Command 1 line is zero skip the command 4 line If a conversion equation is to be used to convert voltages to meaningful values Command 4 is used to load the conversion equation to the CBL LabPro unit Almost all Vernier probes use linear calibrations 1st order polynomial The calibration is specified by entering kg the y intercept and ky the slope For this kind of calibration the form of the Command 4 line will always be Send Out 4 channel number 1 1 k0 k1 In our sample program the following line is used to load the conversion equation Send Out 4 1 1 1 8 729 8 271 In this case channel 1 is being used with an intercept of 8 729 and a slope of 8 271 This is the proper calibration for a Vernier Barometer calibrated in atmospheres Information on the proper Command 4 line values for each Vernier sensor is included in the sensor s documentation The 3 command controls the actual data collection Here is the 3 command from the sample program we are studying It specifies taking readings every 0 25 seconds for 50 readings and specifies that we should record the time of each reading Send Out 3 25 50 0 0 0 0 0 1 The syntax for this command is 3 samptime numsamp trigtype trigch trigthres prestore extclock rectime Most of these are not important and you
40. 3 http www mouser com new electronic components but no motors JameCo Electronic Components 1355 Shoreway Road Belmont CA 94002 4100 800 831 4242 http www jameco com new electronic parts of all kinds including motors Digi Key 701 Brooks Ave South Thief River Falls MN 56701 0677 800 344 4539 www digikey com new electronic components but no motors Radio Shack stores everywhere 800 843 7422 www radioshack com 69 Appendix E Differences Between the Original CBL and CBL 2 LabPro General The number of samples that can be taken with CBL 2 and LabPro is 12 287 as compared to 512 for the original CBL Two DCUs can be connected to one LabPro and both controlled at the same time Since a CBL 2 has only one combined Digital Sonic port you cannot use a Motion Detector and a DCU at the same time Since a CBL 2 has only one combined Digital Sonic port you cannot use a photogate or a radiation monitor connected to the DIG SONIC port and a DCU at the same time New Commands on CBL 2 and LabPro That Effect DCU Operation 102 n Power command Where n integer in seconds between 1 and 999 For n 0 automatic power control this is the default upon startup For n 1 power always on Because the interface has no physical power switch it will go to sleep automatically when it is not receiving instructions from a host If any value other than 1 is used for n the interface will go to sleep thus t
41. DCUMONKY program uses the triggering feature of the original CBL to provide the rapid response needed Unfortunately triggering on the CBL 2 and LabPro does not work the same way so this program will not work with them 56 Digital Control Unit User s Manual DCU Music original CBL only We have had a lot of fun using the DCU to play music on the original CBL Two programs are provided as demonstrations DCUDAISY and DCUHAPPY Connect any simple speaker to the D2 line of the DCU and then run one of these programs The program will click the speaker on and off at a frequency to produce musical tones If you want to make the DCU speaker combination play other songs you have to modify the two lists Lo and Ls The L2 list determines the duration of each of the notes in seconds The L5 list indicates the musical notes according to the chart below For example the first six notes for Happy Birthday C C D C FE would be written as 1 1 3 1 6 5 gt Ls To insert a rest pause in a song use note 37 The number in the first line of the program must be equal to the number of notes in the song for example Happy Birthday has 27 steps written as 27 gt N Frequency Hz 131 5 139 5 The music programs do not work the same on the CBL 2 or LabPro so we have not included versions for them Note however that as an alternative you can program the CBL 2 or LabPro piezo speaker to make music using the 1999 command 57 User s M
42. Digital Control Unit DCU Manual Vernier Software amp Technology 13979 SW Millikan Way Beaverton Oregon 97005 2886 503 277 2299 FAX 503 277 2440 www vernier com info vernier com Version February 5 2001 DCU CBL or DCU BTD The Digital Control Unit Manual is copyrighted 2001 by Vernier Software and Technology All rights reserved Purchase of the Digital Control Unit and accompanying manual and disks includes a site license entitling the teachers at one school to reproduce the disks and manual for use at that one school only No part of this manual or its accompanying disks may be used or reproduced in any other manner without written permission of Vernier Software amp Technology except in the case of brief quotations embodied in critical articles or reviews The terms CBL CBL 2 Calculator Based Laboratory CBR and TI GRAPH LINK are either registered trademarks trademarks or copyrighted by Texas Instruments Vernier LabPro is a trademark of Vernier Macintosh is a registered trademark of Apple Computer Inc IBM is the registered trademark of International Business Machines Visual Basic VB and Windows are trademarks of Microsoft Corporation in the United States and or other countries REALbasic is a registered trademark of Real Software Inc Published by Vernier Software and Technology 13979 SW Millikan Way Beaverton Oregon 97005 2886 503 277 2299 FAX 503 277 2440 www vernier com info vernier com Third Edi
43. In the sample programs we provide we have chosen to handle things differently We do not allow the Data Available subroutine to take control and instead use code like this in the main part of the program Dim Buffer as String A string that will be used for reading values from LabPro Dim Exponent as String Dim Mantissa as String Dim CurrentValue as Double labpro flush labpro write s 3 01 1 0 chr 10 labpro write g chr 10 Buffer LabPro ReadAll Reads the incoming data labpro flush clears the buffer Iblcurrent text mid labpro lookahead 5 1 mid labpro lookahead 7 1 mid labpro lookahead 8 1 44 Digital Control Unit User s Manual Data Format of LabPro Data LabPro sends data back in a format similar to this I n nnnnnE nn In order to get this data translated to floating point numbers value we us the following lines of REALbasic Buffer Trim Mid Buffer 4 13 Mantissa Val Mid Buffer 1 8 Exponent Val Mid Buffer 10 3 value Mantissa Pow 10 exponent REALbasic Data Collection Programs for LabPro We have included some sample programs to demonstrate programming for collecting data using sensors with LabPro without a DCU on the Macintosh disk There is a simple real time live data collection program and non real time data collection program and a program that lets you type command strings and send them to LabPro This program shows the data as it is returned from LabPro It
44. LabPro that there are 17 elements in the sequence The numbers that follow are the actual outputs we would like to send The 1 command does not actually initiate the output The output is started with a 3 command The syntax we use for this 3 command is 3 1 17 0 3 number of seconds between steps number of steps triggering So now we need to see how to send these commands with REALbasic We want to send these commands anytime the Start button is pressed so we put it in the code associated with the Start button Any code that we put here will be executed when this Start button is clicked Outputting information to the LabPro consists of only one command LabPro Write information to be sent out of serial port LabPro is the name of the Serial Communications Control which handles addressing the port to which LabPro is connected The Write part of the command tells the computer that you want to output information to the device connected to the serial port The information in the parentheses is simply what you want to output The syntax of the information that LabPro expects to receive is s command chr 10 The command is just the string of integers we plan to send to the LabPro The s and the quotation marks and the curly brackets are required they make sure that the data you want to send out is in a window readable by the LabPro The chr 10 at the end of the line simply adds a termination character to the information being sent
45. NIT subprogram to initialize the CBL LabPro This is essential in all CBL 2 and LabPro programs The Command line is used to set up the digital output channel and specify the sequence of outputs to be used Command is a little different when used with digital output than it was with sensors The syntax for Command 1 when used with digital output is 1 channel of data elements data elements channel For digital output you use a 31 for the channel If you are using a LabPro you can also use a DCU connected to DIG SONIC2 and in this case the channel is 32 All of our sample DCU programs except DCU2 for LabPro only use 31 for the digital output channel of data elements The third number in the line is used to specify the number of elements in the sequence of patterns to be output This can range from 1 to 22 original CBL or 32 CBL 2 or LabPro In our sample program the number 2 is used This means there will be two data elements data elements This is a list of numbers 0 to 15 specifying the outputs to be used In our example they are 7 and 0 If the of data elements set in the command was 5 then there would have to be 5 numbers in this list The 3 command is used much like it is with sensor programs 3 samptime numsamp trigtype samptime the time between samples in seconds The range is 0 0001 to 16000 s On the original CBL only if the time is greater than 0 20s it must be a multiple of 0 25 seconds that is
46. ROM player There are basically two types of stepper motors that you may want to use unipolar and bipolar You can identify which type you have with this rule e Bipolar stepper motors have 4 lead wires e Unipolar stepper motors have more than 4 wires usually 5 6 or 8 No matter what type of stepper motor you have remember that it needs to match the voltage you are using on your DCU power supply If you are using the CBL LabPro power supply you should use 6 volt stepper motors Identifying the leads on a stepper motor can be tricky It helps if you have a diagram provided by the manufacturer Unfortunately you are often using a surplus stepper motor and need to figure it out yourself First determine which type of stepper motor it is Next look for patterns Examine the wires carefully Refer to the diagrams below which symbolically show how the two types of stepper motors are wired inside Use a meter to measure resistance Remember that a coil will have a few ohms of resistance Use a little trial and error and you will be able to get it going 51 User s Manual Digital Control Unit Bipolar Stepper Motors To connect a bipolar stepper motor directly to the DCU wire it as shown here G G Direct Connection of a Bipolar Stepper Motor Wired this way you can control the bipolar stepper motor using the DCUSTEP1 subprogram You can also use the DCUSTEP program which uses DCUSTEPI The DCUSTEPI program turns on the two coil
47. V DCUPWRON D T DCUOFF DCUINIT DCUOFF Original CBL only DCUINIT DCUOFF Original CBL only Note that you can make musical tones on CBL 2 and LabPro using the built in piezo speaker using a 1999 command DCUINIT DCUOFF Original CBL only Note that you can make musical tones on CBL 2 and LabPro using the built in piezo speaker using a 1999 command DCUINIT LabPro only Appendix A Subprogram Name DCUBUZZ subprogram DCUCHKD subprogram DCUCHKP subprogram DCUINIT subprogram DCUOFF subprogram DCUPULSK subprogram DCUPWR2 subprogram All Variables Used in Calculator Programs Here is a list of all the subprograms provided on the disks Description of Program Produces an on off signal on digital out line 1 for a specified time and at a specified frequency For use with speakers and simple buzzers Checks and reports the status of a photogate connected to digital channel 2 Blocked or Unblocked The key ends this program Checks and reports the status of a photogate connected to the CH1 analog input Blocked or Unblocked The key ends this program Initialization subprogram for the CBL LabPro and DCU It makes sure that the link between the calculator and CBL LabPro is OK and initializes the unit It also turns off all the DCU lines This program should be called at the beginning of any main program Turns off all digital power lines This sub
48. a cup The program starts by lowering everything into a cup of hot water The stepper motor gently raises and lowers the tea bag to help with the infusing At the same time the program is monitoring the conductivity which increases as the tea dissolves When the conductivity reaches a set limit the apparatus is raised such that the tea bag is pulled out of the water but the temperature probe is still in the tea The temperature is then monitored until it drops to a previously specified perfect drinking temperature Then the buzzer goes off and the apparatus is raised out of the way Monkey Gun Demonstration original CBL only A popular physics demonstration consists of a blow gun used to project a marble or ball bearing toward a metal can target initially suspended by an electromagnet The gun is aimed directly at the target A system is set up to cause the electromagnet to be turned off just as the projectile leaves the barrel of the gun Since both the projectile and the target fall at the same rate vertically the projectile hits the target One easy way to set up this demonstration is to use the DCU to supply the current through the electromagnet Use a photogate placed at the end of the barrel and connected to the original CBL to signal the time to cut the current The program DCUMONKY is set up to do this task The photogate should be connected to Channel 1 of the original CBL and the electromagnet should be connected to the D1 line of the DCU The
49. a series of patterns with a change every second There are 17 steps that are the possible output patterns of the DCU They represent sending the numbers 0 1 2 3 4 15 to the DCU from the calculator followed by a 0 to turn all the outputs off again Notice that the first 12 steps Digital Control Unit User s Manual 10 11 12 correspond to binary counting using the first 4 red LEDs The numbers 12 to 15 control the status of the last two lines To give you an introduction to what DCU programs are like the DCUCOUNT program code is listed below This is TI 83 code but the code for other calculators is similar There are a number of things to notice about this short program prgmDCUINIT Calls a subprogram named DCUINIT This subprogram initializes the CBL LabPro Disp COUNTING Displays message on calculator screen 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 5Lc The line above sets up a list starting with a 1 followed by some other numbers This command will set up a digital channel Send Le Sends this list to the CBL LabPro 3 1 17 gt Le6 Sets up a list starting with a 3 followed by some other numbers This command p g y will control the output from the CBL LabPro Send Le Sends this list to the CBL LabPro It s now time to customize the DCUCOUNT program and make it do something different Recall that the DCUCOUNT program initially simply outputs the 16 possible outputs one second at a time to
50. able 19 User s Manual Digital Control Unit 5 This is the Project window of the application It shows all of the other windows that are associated with this program In this program there are three windows plus a default Menu window The three windows are the main window we see on this screen the communications error screen and the BlankWaitTemp window which is used with several of our subs Running The DCUCOUNT Program The DCUCOUNT is a program that we created to count through the 16 possible DCU outputs Each of the numbers 0 15 represents one of the 16 outputs to the DCU So a program that goes through each of the 16 outputs on the DCU would be a program that sends the numbers 0 15 to the LabPro for use by the DCU It sends out a zero at the end to make sure all the lines are off Let s try running this program Select the Run command from the Debug menu at the top of the screen This changes the appearance of the screen Now you are seeing the Runtime Environment view This is the actual running application with the DCUCOUNT window and its user interface displayed You should see the words LabPro Found written in the ListBox at the bottom of the screen There are no red DCU lights on and the program seems to be waiting for some sort of input from the user Try clicking on the Start button This button starts sending the output sequence to the LabPro It sends each of the 16 possible outputs sequentially holding each output for 1
51. actly 5 seconds no matter what else the calculator program does later use 11 1 141 5L6 Send Le 11 31 2 1 0 5L6 Send Le 13 5 2 015L6 Send Le Get Le Another good reason for using subprograms in your DCU programming is to avoid confusion of this sort If you need to turn on a line for a specific time use the subprogram DCUPWRON Simply specify the output you want D and the time you want the pattern held T and all this will be taken care of for you Here are some things to remember about the programming trick discussed in this section You do not need to have a sensor connected when you use this trick t makes no difference what value is returned in the GET statement It is just a way of forcing the calculator program to wait for the CBL LabPro to finish its work If you happen to want your program to take a sensor reading at the same time it is executing some pattern of digital outputs then this same idea will work and produce useful data for you at the same time A Trick to Give You More Timing Precision original CBL only When we discussed the sample time earlier we explained that for the original CBL there was a rule that the sample time can be any number of seconds from 0 0001 to 0 20 but if it is greater than 0 25 it has to be a multiple of 0 25 seconds This would seem to make it impossible to have a device turn on for a period of exactly 0 385 seconds for example Here is a way you can get greater precision
52. am statement to retrieve the sensor reading from the CBL LabPro In this case the calculator program will know that it cannot go on until the CBL LabPro has finished its operation and returned readings to the GET instruction Here is the same program revised so that first sequence of outputs will be completed before the power is turned off prgmDCUINIT Initialize the CBL LabPro 1 1 14 5Le Set up CHI to read a sensor Send Le 1 31 2 0 7 5L6e Set up digital output to turn on and then off the first three lines Send Le 13 1 10 0 5L6 Go through 10 steps each taking 1 second Send Le Get Le Get the reading The program will wait 11 31 1 075L6 Set up digital output lines for turning power off to all lines Send Le 3 1 1 0 gt Le Turn power off Send Le 37 User s Manual Digital Control Unit Many times you want to turn on a line for a specific time period and have the calculator wait until this time period is over before proceeding with the program To do that use this pattern 1 1 14 Le Send Le 1 31 2 D 0 gt Le Send Le 13 1 2 015L6 Send Le Get Le In this case the output pattern has two elements D the pattern you want to set and hold and 0 The CBL LabPro will set the DCU output as you want and leave it that way for the time you use in the Command 3 line The calculator program will wait at the Get statement Here is an example To turn just the first digital output line on and leave it on for ex
53. among calculator models The CBL LabPro is controlled by sending lists of numbers to it We call these commands Here is a list of the most commonly used commands for programs reading sensors 0 All Clear 1 Channel Setup 3 Sampling Setup 4 Conversion Equation Setup There are some other commands that work only with CBL 2 and LabPro but these commands will not be explained until later in this manual A command is a list that starts with the command number usually 1 3 or 4 followed by other numbers called parameters in the TI books The parameters each have special meanings depending on what command you are using There is a default value for each of these parameters If you leave the parameter off the list the default value will be used All of this is explained in detail in the CBL System Guidebook Getting Started with the CBL 2 or the LabPro Technical Reference Manual In these sections we will only use parameters that are important for common programs and leave off the others so they will take their default values You control the LabPro CBL by sending these commands which are just lists of numbers with commas between them to it The lists are enclosed in curly brackets The details of how these commands are sent out to the LabPro CBL differ with the programming environment or calculator On most calculators you set up the list of numbers with one line then send it to the CBL LabPro with a Send command on the next line On
54. ams are close enough build your program using our subroutines as raw material Start with one of the sample programs Delete the existing code if it is not needed Carefully study Appendix A to learn what each subroutine does Use these subroutines to save yourself work when you can 26 Digital Control Unit User s Manual Programming the CBL LabPro for Data Collection The next two sections of the manual are a look at programming for CBL LabPro This section will concentrate on reading the status of sensors since this is the easiest thing to do with a CBL LabPro Also reading sensors will be very useful in writing DCU programs The next section is about writing programs to control the DCU lines These sections are not meant to be an in depth explanation of programming For that you should refer to manuals that came with your calculator or computer programming language However this section will give you a general overview of how you control LabPro CBL and the DCU These two sections are also not an in depth explanation of the LabPro CBL hardware and how it is controlled For that you should refer to or the LabPro Technical Reference Manual free at www vernier com Getting Started with the CBL 2 or CBL System Guidebook for original CBL No matter what equipment you are using the commands you send are similar This section will concentrate on these commands These are not affected by the minor differences in programming language or
55. and it should go off Try to turn the other LEDs on and off using the 2 through 6 buttons on the screen Note that there are some combinations of LEDs that are not allowed so that in some cases when you turn on an LED some others may go off The DCUTOGGL program is very useful in testing hardware for your future projects that you connect to the DCU Note that the Start button does nothing in this program It is there to maintain consistency with our other programs When you are finished experimenting with the DCUTOGGL program click on the Stop button to terminate communication with the LabPro and then quit the program REALbasic will still be running Opening the DCUCOUNT Program Choose Open from the REALbasic File menu and navigate to DCU sample programs Within that folder is a file DCUCOUNT Open this file Answer no to the question about saving changes to the last program When the file opens near the center of the screen you will see a Window that lists the various other windows that make up the program It has an entry labeled DCUCOUNT Double click on this entry An Overview of REALbasic REALbasic uses a lot of windows to display information It has been designed to look a lot like Visual Basic a version of BASIC for Windows computers The program is built around a main window to which you add buttons labels text boxes list boxes and controls Many of the objects on this window have REALbasic code instructions for what the compu
56. and should be 1 to read a signal from an Auto ID probe like the standard TI temperature voltage or light probe a Stainless Steel Temperature probe a motion detector or any autoID probe It should be a 14 for other Vernier analog sensors without Auto ID postprocessing not used often use zero statistics not used often use zero conversion The sixth number in the list is either 0 or 1 You should always use a 0 for this parameter if you are using one of the three TI sensors that came with the CBL CBL 2 a motion detector or other Vernier Auto ID probe Use a 1 if you are using a Vernier analog sensor without Auto ID such as sensors with the 5 pin DIN plug If the value is 1 the CBL LabPro will use a conversion equation which follows in the program for converting voltages to readings that correspond to a readings Let s take another look at the second line of our sample program Send Out 1 1 14 0 0 1 28 Digital Control Unit User s Manual The Command 1 used here sets up channel 1 to use a non Auto ID sensor and since the 6th value is 1 to use a conversion equation The fourth line of our sample program has a Command 4 A Command 4 line is only used to set up the calibration equation for a non autoID analog sensor such as one of the Vernier Sensors with a DIN connectors With the proper Command 4 line the CBL LabPro will read correct values newtons degrees etc on these sensors If you are using autoID or you just
57. ang a sign from it so that when the motor turns the sign moves up or down Solenoids Solenoids are electromagnets that can be turned on to make a piece of metal move a short distance When using solenoids check the voltage rating and also make sure that the current the solenoid draws is not too large Beeps and Buzzers Almost all computer systems have a beep sound that can be made when the computer wants to get the attention of the operator Most calculators don t make sound but you can add one using the DCU There are several different types of buzzers that you can use Some buzzers need only to have a steady voltage applied and they will produce a sound The sound continues until the circuit is turned off Our program DCUPWRON can be used for this type of buzzer Other buzzers and simple speakers need to be pulsed that is the power to them must be turned on and off at a high frequency The subprogram DCUBUZZ is an example of this Mass Driver An interesting project to try using electromagnets is to make a device to accelerate magnets Start with a permanent magnet such as a cow magnet Find a clear plastic tube that the magnet will fit through Wrap wire to make four or six electromagnets spaced along the tube Connect the electromagnets to the digital out lines Use a program to turn on the electromagnets in a quick sequence so that the magnet is pulled along Timing is critical The subroutine DCUMASS is an example of this kind of
58. anual Digital Control Unit Resources for Teachers Interested in Calculator Controlled Robots The ACTSAMC Advanced Competencies for Technical Scientific and Mathematical Careers project is a source for additional curriculum material technical information and teacher training on calculator based control systems including the construction of calculator controlled robots ACTSAMC c o Physics Dept Sinclair Community College 444 West Third St Dayton OH 45402 1460 www sinclair edu departments actsamc 58 Appendix Sample Programs and Subprograms Here is a list of all the complete programs provided on the disks DCUALARM DCUCAR DCUCARS DCUCOUNT DCUMASS DCUSTEP All Variables Used in Calculator Programs V S D T LK Description of Program Waits until Motion Detector detects an object closer than a specified distance Turns on D1 for 10 seconds The key ends this program Allows you to control a car driven by two DC motors using the four arrow keys T controls the time the motor is on for each keypress The key ends this program Allows you to control a car driven by two stepper motors and a stepper motor IC using the four arrow keys N controls the number of steps taken for each keypress The key ends this program Counts 0 15 to show the resulting LED displays Program to turn on D1 D2 D3 and D4 in order to accelerate a magnet through a tube mass driver Simple
59. ar with the lab interface you are using that is LabPro CBL 2 or the original CBL and how it is used It also assumes that you are somewhat familiar with with the calculator or computer you are using and how it is programmed Calculator Users Only If you are using a calculator for DCU programs this manual also assumes that you are familiar with the use of TI GRAPH LINK for transferring programs from a computer to the calculator If you are not we encourage you to look over other manuals for information on this If you are using the original CBL one option is CBL Made Easy which is available free on our web site www vernier com If you cannot download this manual you can purchase a copy on disk order code CMEP 12 e If this is your first time controlling devices with the CBL LabPro and you want to get started Read the Introduction and one of these three sections First Use of the DCU with a Calculator calculators only First Use of the DCU with Visual Basic Windows First Use of the DCU with REALbasic Macintosh Try some of the other sample programs Try following the instructions in the section Connecting Devices to the DCU and hooking up some electrical devices to your DCU e If you want to start writing calculator programs for controlling the DCU In addition to the suggestions above study these sections More About the Sample DCU Programs Included on the Disks Programming the CBL LabPro for Data Collection Programming
60. c Windows When using REALbasic you may find it confusing dealing with the various parts of a sample program Here are some tips To see the user interface of the program select Project from the Window menu and then double click on the name of the file you opened for example DCUCOUNT To see the code associated with one of the buttons double click on that button After you have displayed some of the code once you can also choose Code Editor from the Windows menu to get back to the code Sometimes in REALbasic windows get hidden behind one another strangely Try moving things around if you loose a window REALbasic Methods In REALbasic subroutines are called methods and most of our sample code is stored in these methods To examine or modify these methods select Code Editor from the Windows menu of REALbasic or double click anywhere on the user interface window You will see a hierarchical menu at the left wide of the window Open the Methods item and you will see each of the subroutines of the program listed as a separate method Click on any method and the code for that method is displayed to the right How commands are sent to LabPro for controlling the DCU LabPro is controlled by sending a string of integers called a command out through the serial port In REALbasic we use the following code which sends data through a serial control renamed LabPro LabPro Write s integer string chr 10 The command is in the parentheses The
61. cal devices you can control with the DCU Look over the Hardware Details of the DCU Connecting Devices to the DCU and DCU Project Ideas sections After you connect your circuit use the sample program DCUTOGGL to test your hardware Later you will probably want to write your own programs to control your hardware Acknowledgements The Digital Control Unit was designed by John Wheeler John was also involved in every other phase of this project Dr Fred J Thomas of Sinclair Community College Dayton Ohio pioneered the use of the digital outputs of the CBL and provided valuable suggestions for this project Matthew Denton Jeffery Hellman Laura Owen and Adam Higley created and tested most of the sample DCU calculator programs and projects we built Jeffery Hellman and David Stroud wrote most of the sample DCU computer programs Thanks to John Gastineau Scott Holman Christine Vernier Erik Schmidt Jan White Dan Holmquist and Ian Honohan of Vernier Software amp Technology for their editing and testing Thanks to Adrian Oldknow for encouraging me on this project Thanks also to Scott Webb and Eren Koont of Texas Instruments for their ideas and encouragement on this project David Vernier Vernier Software amp Technology Introduction The Digital Control Unit DCU is designed to make it easy for you to use the Calculator Based Laboratory CBL or LabPro digital output lines Using the DCU and simple programs you can turn on and off mo
62. claration of a Windows Internal Function that is used by the F3 Error commerrol d g subroutines to force the system to wait sleep for a certain time without continuing program execution This is used to ensure that the LabPro has time to send out all the information it needs to before the program begins processing that data an 4 Private Declare Function GetTickCount Lib kernel32 As Long e Option Base 1 Start all arrays at 1 instead of O this is an option we like Alphabetic categorized Global variables here Dim SubRoutineStopButtonClicked As Boolean This is a global string that we use to red Se DCUPULSK to see when the user wants to stop by pressing the stop subroutine as i PFET TEEETT ETE TTT E FETE FETT ttt ttt ttt tt ttt ttt ttt ttt ttt tT ttt tt ttt tt ttt ttt ttt ttt The DCUStartButton Click Sub is the code that is executed every time the Start button is pressed Put the code that you would like executed when this button is pressed here This is where the main work of the program is done Private Sub DCUStartButton Click LabPro Output s 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 vbCrLf LabPro Output 8 3 1 17 0 vbCrLf End Sub Initial Visual Basic Screen 11 User s Manual Digital Control Unit From the Run Menu select Start You should see the user interface for the TOGGL program which includes a Start and a Stop button and buttons for controlling the six output
63. control a stepper motor DCUTRAP2 This program is used to make a live bug trap It uses a photogate to sense when a bug is inside a box then turns on a DC motor to knock the lid of the box closed It is a good example of how subroutines can be used Subroutines We have also included a number of small subroutines In Visual Basic these are called Subs In REALbasic they are called Methods On the TI calculators these are actually separate programs which we refer to as subprograms These subroutines are intended to supply sections of code that you can use to write your programs Major operations that you want your program to handle can be replaced using one of the subroutines Many programs can be written by linking together these subroutines with a few lines of new code As an example consider the program DCUTRAP2 As mentioned earlier this program is used to make a bug trap It uses a photogate to sense when a bug is inside a box It then turns on a motor to knock the lid of the box closed Here is generic description of this program with some comments explaining what the program does Set up the calculator or computer screen Display READY FOR ACTION Use the subroutine DCUINIT to initialize the CBL LabPro Use the subroutine DCUCHKP to check to see if the photogate is working Clear the calculator or computer screen again Use the subroutine DCUWAITP to monitor the status of the photogate and wait until the photogate is blocked Set the
64. design DCU Form Jol x T3 Ele Edt View Project Format Debug Run Query Diagram Tools Add Ins Window Help igi xi Bo tid S RA c gt s x MIS GUTER iso 20 g 4815x2535 DCUTRAP2 DCUTRAP2 Monitors a photogate and tums on Channel 1 Start Check Gate when it becomes blocked Stop Trap Sioe Project DCU vbp B 68 Forms E BlankWaitTemp Bla E DCU DCU frm P3 Error commerror fr omLabPro Properties LabPro LabPro xMComm Threshold TSEnable o False AStant 5 Projecti Microsoft v ES name labprabmp Imaging JENSI 10584m Figure 6 Changing the port settings for the XMComm Control Finally there is one change that we must make to the code controlling this program With the Enterprise and Professional versions the command to read data from the LabPro was LabPro input With the XMComm control the new command is LabPro inputdata To make this change we need to open the code editor Open the code editor by double clicking anywhere on the main DCU form Once this is opened we will do a find and replace as shown below Choose Replace from the Edit menu T3 BlankwaitTemp Blank E Deu octtest fm BB Error commerrer frm End What data gram ro a 11 te paeh Jains oa thes das Camere poceawre Breten Ja C OmenMbdde F Find Whele Word ni Replace Al a Declare Function ceel eos
65. dialog box is displayed to inform the user of an error in communication This dialog allows the user to retry the connection until it is successful Understanding How Digital Outputs are Controlled with 3 Commands The exact timing of when digital output lines go on and off when you use a sequence of patterns set up with a 1 command and then a 3 command can be confusing In the samples below the graphs represent the voltage out vs time from D1 when only the commands listed at the right are executed Each set of commands attempts to get the line to go high three times and stay high for one second each time Only the last one works correctly Time 2 3 4 5 e 1 31 5 1 0 1 0 1 13 150 102 1 11 31 5 1 0 1 0 1 13 15 01 02 1 5 31 6 1 0 1 0 1 0 31 5 0 The first attempt fails because LabPro automatically powers down This is because a 102 1 command has not been executed The second attempt fails because the last of the five steps leaves the line on The third attempt works because it forces the voltage back to low after the third pulse is completed The best way to think about what is going on here is that the first step happens at time zero on the graphs 42 Digital Control Unit User s Manual Additional Notes on REALbasic Programming This section offers specific tips for people writing REALbasic programs We hope to warn you about some of the things that can cause confusion when you start DCU programming REALbasi
66. different objects on this window including two buttons several labels and a large white listbox at the bottom This windows is how the program gathers input from the user and also how it displays output to the user as well One key object on this window will be discussed as 2 below 2 The object with a Mac modem printer symbol on it is the Serial Communications Control This control allows us to communicate with the LabPro via the Serial Port It is important to the program but you should not have to change anything about it in your work unless you need to change from using the Modem port to using the Printer port It does not appear in the program window when you run the application It is only visible in the Design Environment view The serial communications control has a name LabPro It has properties associated with it and clicking on it will display those properties in the Properties window to the right 3 This is the Properties window It will become more important as you go on with our development of applications Many objects in REALbasic have properties associated with them such as the name caption location etc This window is where these properties are set and changed 4 This is the Tools Window You can drop items from this window onto the main window to add features like buttons labels text windows list boxes and controls We will not be using these controls now but as you program your own applications they will become invalu
67. drops below 30 degrees C 33 User s Manual Digital Control Unit Additional Notes on Calculator Programming This section offers specific tips for people writing TI calculator programs For more information also see the CBL System Guidebook Getting Started with the CBL 2 or the LabPro Technical Reference Manual and the manuals which came with your calculator The exact details of programming differ somewhat between calculator models You should carefully study the manual that came with the calculator you are using Concentrate on the sections about programming Also examine some of the programs that you use with the calculator No matter what calculator model you are using the commands you send to the CBL LabPro are the same This manual will concentrate on CBL LabPro commands These are not affected by the minor differences in programming languages among calculator models All the sample programs listed in this manual use the syntax of the TI 82 or TI 83 calculators To see versions of the same programs for other calculators simply open the appropriate version of the program from the disk after transferring it using TI GRAPH LINK Our number one tip on programming for TI calculators is that all programming should be done using a computer and typing on a keyboard Use TI GRAPH LINK for the editing and then send the program to the calculator Typing or modifying a program on the calculator keyboard is much harder Also most versions of TI GRAPH
68. e FillColor WB sx00000 FillStyle 0 Solid Font MS Sans Seri FontTranspare True Forecolor E amp H80000 HasDC True 6165 InputFromLabPro View of the Main DCU Form This form is the heart of the Visual Basic program It contains all of the user interface components of a program and also any code that you want the program to execute Let s take a closer look at the numbered items on the screen above 1 This is the main form of the program When the program is run this is what you will see It contains a List Box the large white section at the bottom of the form 3 buttons and a label explaining a bit about this program It also includes a serial control which will be discussed below as number 4 Later if you want to add additional elements to this program you would do it here on the main form 2 This is the Project Explorer All of the forms associated with this program are listed here Double clicking on any of them will bring up that particular form Try this with our program You will see two other examples of forms one of for communication error messages and one used in certain subroutines of our sample programs 3 This is the Properties Window All items in Visual Basic buttons list boxes and even entire applications have properties associated with them Some properties define how an object looks or behaves others control the label that an object is given Selecting an object on the main form will cause its particular pr
69. e detail we will just look at this one simple task We first set up the sequence of steps that we want to send to the DCU Then we issue a command for the LabPro to actually start through the sequence of outputs In this case we are using the following command to set up the sequence 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 Here the 1 tells the LabPro we are setting up a channel the 31 tells the LabPro that we want to setup channel 31 which is Dig Sonic 1 the 17 tells the LabPro that there are 17 elements in the sequence The numbers that follow are the actual outputs we would like to send This 1 command does not actually initiate the output The output is started with a 3 command The exact command we use and the syntax of a LabPro 3 command used this way are 3 1 17 0 3 number of seconds between steps number of steps triggering So now we need to see how to send these commands from the computer to LabPro with Visual Basic We want to send these commands anytime the Start button is pressed so we put these commands in the code associated with the Start button Visual Basic code to send commands to the serial port follows this syntax LabPro Output information to be output LabPro is the name of the Serial Communications Control which handles addressing the port to which the LabPro hardware is connected The Output part of the command tells the computer that you want to output information to the device connected to the se
70. ensors plugged into the digital ports allow the user to read and write to a digital id sensor and allow the user to interact with the Flash Archive See the LabPro Technical Reference Manual or Getting Started with the CBL 2 for details Changes to original CBL Commands 0 Reset command This command will clear data RAM back to the power up state and clear any error information It will also set the power control to the normal state It will not clear the FLASH RAM If the CBL 2 or LabPro is being powered off AC it will not bring any high digital output lines to a low state The 2001 0 command will effectively reset the digital output lines regardless of whether the CBL 2 or LabPro is powered by batteries or AC 1 Channel setup command This command is identical to the original CBL However there are new side effects as a result of the dual use of the digital output sonic channel Often it is necessary to setup a dummy channel prior to sending digital output If the auto ID command is used 1 Channel 1 a current pulse will be sent to all channels regardless of the channel in the command This pulse which is generated to find a sensor s auto ID resistance will cause D3 to go high If the CBL 2 or LabPro is powered off internal batteries this may be just a brief pulse If the CBL 2 or LabPro is powered off AC the D3 line will stay high The LED may light and D3 will be outputting a constant voltage until further commands are sent
71. es followed by times 29 User s Manual Digital Control Unit As the first lines of our sample program are executed the CBL LabPro will go about its business of collecting the data Now how do we get it back to the calculator or computer In the case of calculators the Get command is the answer Each Get command will retrieve a complete list of data from the CBL LabPro In this case there are two lists since we asked the CBL LabPro to record the times The sensor readings go into list 1 and then the times go into list 2 If we had set rectime to 0 then we would not have had the times recorded and we would have used only one Get statement When more than one channel is being monitored the rule is that the data from the lowest channel number is returned first followed by other channels in order followed by times if they were recorded When using LabPro connected to a computer and you send the 3 command you sometimes do not need a Get command The data will automatically appear in the serial buffer of the computer and can be dealt with there The details are different in Visual Basic and REALbasic and will be explained in later sections Live Real Time Data Collection The discussion above assumes that you want to have a certain number of readings taken at specified intervals for later use by the calculator e g making a graph There is another variation of data collection that is often used We call this live data collection In this
72. ether to allow you to switch the polarity or direction of current flow in an electrical device Consider the circuits below Both circuits show an electrical device wired between the D1 and D2 lines of the DCU The circuit at the left has the D1 set for and D2 set for so positive current would flow from D1 through the device and to D2 The circuit on the right has D1 set for and D2 set for so positive current would flow from D2 to D1 This idea allows you to have motors run in either of two directions Notes e Ifa third simple motor is connected to D5 and D6 the third motor can be run only when the first two are off but it can be run in either direction e Three DC devices can be turned on completely independently and in any combination if they are connected between D1 D2 D3 and ground e Six DC devices could be connected between the six output terminals and ground Four those connected to D1 D2 D3 and D4 can be used in almost any pattern except that you could not have D3 and D4 on at the same time The devices connected to D5 and D6 can be turned on only when all the devices connected to D1 through D4 are off More about the Sample DCU Programs on the Disks Sample programs for the Digital Control Unit are included on the Windows and Macintosh disks These programs can be used in several different ways Use them unchanged for controlling electrical devices you build The sample program DCUTOGGL is especially good
73. fication there are two places where you could get an error message You will see an error either when you open the program or when you try to view the main form of the program DCU frm This error message is shown below in figure 2 7A Appendix F Digital Control Unit Figure 2 Load error This error occurs because the DCU program is looking for a serial communications routine that the Learning Edition does not provide We are going to include XMComm in the program to replace the missing serial communications routines To do this select the Components menu item from the Project menu of Visual Basic y Project Microsoft Visual Basic design DCU Form Figure 3 Adding a component to Visual Basic This will bring up a new dialog box that has a list of possible components in it Scroll down to the bottom and select the entry titled KMCOMM Serial Comms with XMODEM entry Make sure that a check mark appears in the box to the left of the entry and select the OK button at the bottom of the dialog 75 Digital Control Unit Appendix F at wheya E e Package and Deployment Wizard Project RealAudio Activex Control Library I RegwizCtri 1 0 Type Library o jud Ivi EB Ua L fis Project Microsoft v ES add component na INS Figure 4 Selecting the XMCOMM control After selecting ok you should see a new icon in the Tools window of Visual Basic This
74. for this It lets you turn on or off any of the six lines to test your hardware e Study them as examples to learn how to write DCU programs Modify them as starting points for your own programs Usually it is far easier to create a new program from one of our sample programs than to start from scratch Use the subroutines or procedures as raw material for building your own programs Programs are provided for all of the following TI calculators TI 73 TI 82 TI 83 TI 83 TI 85 TI 86 TI 89 TI 92 and TI 92 The Windows disk also has Visual Basic programs The Macintosh disk has REALbasic programs The names of all the programs we have provided start with the letters DCU Here is a list some of the sample programs with a short description of what they do DCUCOUNT This simple program sends each of the 16 possible digital outputs to the DCU lines DCUTEMPC This program checks the signal from a TI or a Stainless Steel Temperature probe on CH1 of the CBL LabPro If the temperature is greater than a specified level it turns on the D1 line If the temperature is less than the specified level it turns on the D2 line It is used for a temperature control system which turns on a light bulb for heating or a fan for cooling as needed 25 User s Manual Digital Control Unit DCUWARNV Monitors the voltage input Ch 1 of the CBL LabPro and turns on the D1 output of the DCU if the voltage exceeds this level DCUSTEP A program to
75. g for the DCU using our provided subprograms is really quite easy We encourage you to experiment with our other subprograms to develop your own programs There is a lot more to learn Later sections of this manual will explain the commands to control the DCU in some detail Also remember that more comprehensive manuals are available including the calculator manuals and the CBL and LabPro technical reference manuals The best advice we have is to experiment The best way to learn programming is to actually do it 10 Digital Control Unit User s Manual First Use of the DCU with Visual Basic Windows Introduction This section is intended to be used by people who want to get their DCU up and running as quickly as possible using a Windows computer Microsoft Visual Basic and a Vernier LabPro This is not a comprehensive manual for Visual Basic We try to make things as simple as possible and allow you to start using the DCU quickly This manual assumes that you have Visual Basic 6 Enterprise or Standard edition installed on your computer If instead you have the Learning edition of Visual Basic refer to Appendix F for information on how to modify the programs so that this version can be used Trying out a Visual Basic Program DCUTOGGL To see a Visual Basic program in action controlling the DCU try the DCUTOGGL program This is a program to control the DCU lines with button presses Connect the DCU to the connector on the top right side of t
76. h frequently in our sample programs Another good reason for using subprograms in your DCU programming is to avoid confusion of this sort If you need to turn on a line for a specific time use the subprogram DCUPWRON Simply specify the output you want D and the time you want the pattern held T and all this will be taken care of for you Power Control Whenever you use LabPro for Digital Output you probably want to set the LabPro to leave power on at all times You do this with the following command LabPro Output s 102 1 vbCrLf We do this in the DCUINIT sub so you do not have to do it if you start with one of our sample programs Initializing LabPro with DCUINIT The DCUINIT sub does several things including checking to see if LabPro is properly attached to the serial port This is done using a 7 command system status request to the LabPro which typically results in the LabPro sending back a long string of characters to the computer Since this data cannot be handled in the same way as the analog data we temporarily turn off the OnComm event before sending this command by setting LabPro RThreshold to 0 We have the computer sleep for 200 milliseconds and then we examine the data returned If we verify that the data are proper to indicate a LabPro connected we indicate so in the list box and then set LabPro RThreshold back to 32 If the proper string of data is not 41 User s Manual Digital Control Unit returned a
77. he CBL 2 or LabPro to always stay on Otherwise the CBL 2 or LabPro would power down when not used for a short while about a quarter of a second To set the power to stay on all the time use 102 1 To return to normal power control use 102 0 This 102 command can also be used with an integer between and 999 as in 102 n This tells the interface to wait n seconds before taking a first sample It is intended to allow you to specify a warm up time for a sensor 32 Digital Control Unit User s Manual Controlling Two DCUs at Once LabPro Only If you are using a LabPro you can actually use any number from 0 to 255 for D in the 2001 command This will set the status of the four output lines on DIG SONICI and the four lines on DIG SONIC2 at the same time The program DCU2 demonstrates this idea Programming Challenges Have the DCU red LEDs count in binary from 0 to 11 Flash the first three lines on and off every second for one minute Flash the 5th and 6th LEDs on and off every tenth of a second for 10 seconds Turn on each of the six red LEDs one at a time Have the DCU turn on the D1 red LED if the temperature of a liquid drops below 30 degrees C Have the DCU indicate approximate temperature by turning on the appropriate LED to indicate the Celsius temperature to the nearest 10 degrees D1 indicates in 10 to 19 9 degrees D2 indicates 20 to 29 9 degrees etc Have the DCU flash the D1 LED until the temperature of a drink
78. he CBL or LabPro On an original CBL this connector is labeled DIG OUT On a CBL 2 or LabPro it is labeled DIG SONIC On a LabPro it is labeled DIG SONIC1 Make sure this connector locks in place Connect a CBL power supply TI 9201 or a LabPro power supply IPS to the round connector on the DCU Connect the calculator to the CBL LabPro Make sure this connector locks in place If you are using the original CBL turn it on CBL 2 and LabPro do not have an on off switch and they will turn on or off automatically If you complete all of the steps above correctly the green LED on the DCU should turn on The only exception to this rule is if you are using a LabPro or CBL 2 without an AC Power supply If the green LED is not on double check all the steps Note that the electronics in the DCU can sense when it is properly connected to the CBL LabPro and when the unit has power Start the DCUTOGGL program Try pressing the 1 key on the calculator If everything is working properly the red LED labeled 1 should go on Press the 1 key again and it should go off Try to turn on and off the other LEDs using the 2 through 6 keys Note that there are some combinations of LEDs that are not allowed so that in some cases when you turn on an LED some others may go off This DCUTOGGL program is very useful in testing hardware that you connect to the DCU Quit the DCUTOGGL program by pressing the key Start the DCUCOUNT program The red LEDs should go through
79. he LabPro labeled DIG SONICI Make sure this connector locks in place Connect a LabPro power supply IPS or a CBL power supply TI 9201 to the round connector on the DCU Connect LabPro to the Windows computer using the serial port cable Note At this time Visual Basic does not support using the USB port so that you can control a LabPro interface On the Windows floppy disk that came with your DCU you will see a folder named Visual Basic Copy this folder to your hard disk Now navigate to the location on your hard drive where you put the Visual Basic folder and open it Inside you will see a number of other folders One is labeled DCUTOGGL In this folder you will see a file called DCU vbp for Visual Basic Project Double click on this file This will start Visual Basic with the DCUTOGGL program open On the sides of the screen you will see various windows used to write and modify Visual Basic code The center window usually contains either the code or the user interface of the program Project Microsoft Visual Basic design File Edit View Project Format Debug Run Query Diagram Tools Add Ins Window Help b a Slee ERA n x MIS SR Guo xl General F Project DCU Code k fps Project1 DCU VBP A fal B E Forms abl Lie cccca RCM a cC ee DPI XC ax Tin DE CE VM BlankwWaitTemp je Do not modify the code below Code to be modified is between the lines below E peu pcu frm zi This is a de
80. he following code which sends data through a MSCOMM control renamed LabPro LabPro Output s integer string vbCrLf The only part of that line needed to make the LabPro do something is the string of integers itself The rest of the code tells the computer where to send the data Output to LabPro and where the command ends vbCrLf Thus if you wanted to have the LabPro turn on line using the 2001 command you would use the following line in Visual Basic LabPro Output s 2001 1 vbCrLf Likewise setting up a sequence of outputs to be executed use this line LabPro Output s 1 31 5 1 2 3 4 5 vbCrLf and executing the sequence is done with this line LabPro Output s 3 1 5 0 vbCrLf 40 Digital Control Unit User s Manual Making Sure LabPro Finishes Its Work before Your Program Moves On One thing that can cause confusion when programming the DCU is when the computer program continues on before LabPro has time to finish what it is doing This can cause two different types of confusion For example consider this program LabPro Output s 1 31 2 0 7 vbCrLf Set up the digital output to turn the first 3 lines on and off LabPro Output s 3 1 100 0 vbCrLf Go through 100 steps each taking 1 second InputFromLabPro AddItem DONE Display DONE in the listbox when program is finished When you execute a program like this you may be surprised that the program displays DONE in the list box wh
81. her versions of the software may or may not be supported Preliminary tests with beta versions of version 3 worked well Trying out a REALbasic Program DCUTOGGLE To see a REALbasic program in action controlling the DCU try the DCUTOGGL program This is a program to control the DCU lines with button presses Connect the DCU to the connector on the top right side of the LabPro labeled DIG SONICI Make sure this connector locks in place Connect a LabPro power supply IPS or a CBL power supply TI 9201 to the round connector on the DCU Connect LabPro to the Macintosh computer using the serial port cable These programs assume that you are using the Modem port It is fairly easy to modify a program to work with the Printer port This is explained in the Additional Notes on REALbasic Programming section Note At this time REALbasic does not support using the USB port so that you can control a LabPro interface You can use the REALbasic versions of the DCU programs on a computer with no serial port if you use a Keyspan USB to Serial adapter On the Macintosh floppy disk that came with your DCU you will see a folder called REALbasic Copy this folder to your hard disk Now navigate to the location on your hard drive where you put the REALbasic folder and open it Inside you will see a number of other folders One is labeled DCUTOGGL In this folder you will see a file called DCUTOGGL Double click on this on file This will start REALbasic with
82. hings about writing CBL LabPro programs for data collection There is much more you can learn Even so this should help you get started The best ways to learn programming are e Study other programs which read sensors including the sample programs on our disks such as DCUTEMPC and DCUWARNYV Check out programs that your teachers or friends have written or download some from the internet e Jump right in and start changing the programs and notice what happens e Refer to the CBL System Guidebook Getting Started with the CBL 2 or LabPro Technical Reference Manual and other books for reference information Programming for the DCU Programming to control the digital out lines is similar to programming for using sensors The important steps of a program for controlling the digital output lines and the DCU are 30 Digital Control Unit User s Manual 1 Initialize the CBL LabPro If you are using a CBL 2 or LabPro it is important that you use the DCUINIT program at the start of every program to make sure the power stays on as the program runs 2 Usea Command to set up the digital output channel 31 for a sequence of digital outputs 3 Usea Command 3 to initiate the sequence of outputs Here is a very simple example This program flashes on and off the first three lines of the DCU Call the subroutine DCUINIT intialize Send Out 1 31 2 7 0 set up sequence Send Out 3 5 8 0 start through the sequence The first line uses the DCUI
83. ile the LEDs are still flashing Even if you quit the program or even quit Visual Basic LabPro and DCU are still doing something with the digital output lines A slightly different situation happens when you send new commands to the LabPro to have the DCU do something else before the first operations sent are completed Consider this program for example LabPro Output s 1 31 2 0 7 vbCrLf Set up the digital output to turn the first 3 lines on and off LabPro Output s 3 1 10 0 vbCrLf Go through 10 steps each taking 1 second LabPro Output s 2001 0 vbCrLf Set up digital output lines for turning power off to all lines If you try this program you might expect to see the first three red LEDs flash on and off for ten seconds and then the power should go off Instead the LEDs will briefly flash but the program quickly ends with the power turned off The problem is that LabPro starts executing the sequence of 10 steps but then is sent a new command telling it to turn the power off It interrupts what it was working on and follows the new instruction The solution to both these problems is to use the Sleep subroutine which is included in all of our sample programs It keeps the program from going on while we wait for LabPro to finish a command The format of the command is Sleep X where X is the number of milliseconds to delay For example in the sample program above you could use Sleep 10000 We use this approac
84. inimized through careful choice of trigger thresholds and trigger prestore In general it is not possible to make triggering work as quickly on a CBL 2 or LabPro as on the original CBL Although the LabPro and CBL 2 were designed to use photogates as digital sensors and you can do this there are conflicts between digital output and digital data capture not to mention the physical problem of a single digital port on the CBL 2 To avoid this use photogates plugged into analog channel via the CBL P adapter That is the way photogates are used in this manual There are two music programs written to work with the original CBL DCU system These programs use a loop construct to send the song one note at a time The original CBL would allow the current sample to complete play the note in full before allowing the next sampling command next note to take effect This worked as long as the total time of the note was relatively short The new interfaces will not wait for the current command to complete The result is that no notes get a chance to finish The solution is any looping construct in the program must have a built in pause or a GET command following to allow the current sampling command to complete Unfortunately this slows down the program For this reason we did not include CBL 2 and LabPro versions of these programs In real time mode a CBL 2 or LabPro will continually sample at the given interval for ten samples or five seconds whichever i
85. ion Alarms that go off when a Motion Detector detects a person Automated scientific instruments and demonstration equipment First Use of the DCU with a Calculator This section is intended to introduce you to how the DCU works with a calculator and how it is programmed It assumes that you are using the DCU and CBL LabPro connected to a TI graphing calculator There are sections below which you should skip to if you are using a computer and Visual Basic or REALbasic You do not need any extra hardware connected to the DCU although if you have a small speaker you can use it for one part of this section We try to make things as simple as possible but introduce you to all of the following Getting the calculator software loaded Connecting the DCU to LabPro Running the DCUTOGGL 8 character version of DCU Toggle program to control the DCU lines Running the simple DCU program DCUCOUNT Examining and modifying the DCUCOUNT program Follow the steps below to get your DCU operating 1 Load the appropriate versions of all the DCU programs into the calculator using the TI GRAPH LINK cable There are separate folders of DCU sample programs on the disks for TI 73 TI 82 TI 83 83 TI 85 TI 86 TI 86 TI 92 and TI 92 If you are not familiar with using TI GRAPH LINK refer to the TI manuals or our book CBL Made Easy which is available free on our web site www vernier com Connect the DCU to the connector on the top right side of t
86. is taken Trigger type Identical to original CBL Any integer from 0 to 6 If a trigger other than Manual 1 is being used the interface will immediately begin sampling at the requested rate This is done in order to fill the prestore buffer If a digital output is commanded the pattern will be repeated before and after the trigger event occurs until the selected number of samples has been taken The original CBL would not initiate the digital output pattern until after the trigger event Trigger channel Identical to original CBL Any active channel number 1 4 11 12 Trigger Threshold Any number which falls within the range of the sensor in question This number will be in the units of the sensor in question For example if using a Barometer measuring in kPa a possible trigger threshold might be 105 kPa not the corresponding voltage of 2 95 V as the original CBL required Pre store any integer from 0 to 100 a percentage This value will determine the amount of data retained prior to the trigger event extclock ignored a place holder to make the 3 command compatible with the original CBL Rectime 0 for none 1 for absolute default 2 for relative Filter Integer from 0 to 9 see technical reference manuals for details Fastmode 0 for off default 1 for on This must be set to 1 if sampling at speeds greater than 10 000 Hz This mode is only possible with a single analog sensor at rates of 50 33 25 20 10
87. is the icon for the XMComm control that we will use to replace the serial communication control of the Professional and Enterprise editions of Visual Basic Figure 5 shows the new control Fi Project Microsoft v a sneonm mp Inesina Figure 5 The XMComm control Now we must add this control to the main form of the program in order to enable serial communications with the LabPro To do this simply click on the XMComm control shown in Figure 5 and then click and drag a rectangle on the form Letting go of the mouse button will add the XMComm control to the form Note that the XMComm control will not be visible when the program is running so you may place it wherever you like on the form You will see a dialog box explaining the copyright information on the XMComm as you place it on the form We need to change two properties of the XMComm control First we must change its name to LabPro To do this click once on the XMComm control that you placed on the form This will set the properties window to display the properties of the XMComm control Find the property titled Name and change the entry to LabPro Now we need to change the port settings on the XMComm control This setting is also changed in the properties window Look for the Settings property and change the entry to 38400 n 8 1 as shown below in figure 7 76 Appendix F Digital Control Unit Project Microsoft Visual Basic
88. ld bytes sent in Private Sub LabPro OnCormm End Sub View of the code that is associated with the Start Button 14 Start IDisabledPictur None IDownPicture None None 0 Manual IMaskColor amp Ho0COC IMouselcon None IMousePointer 0 Default mi l EFweeMaedan Nena Digital Control Unit User s Manual Let s look at exactly what we have here The computer screen shows the text displayed in different colors Everything in green is a comment These are not instructions to the computer but rather text comments we have written to explain what is going on The computer ignores these comments but you should read them as they can help you understand how it operates Blue words are Visual Basic keywords These are special words that Visual Basic recognizes as commands Words in black represent Visual Basic code that we have written You should see the words Private Sub DCUStartButton Click in this window This is the beginning of a Sub or subroutine in Visual Basic Private means that this Sub is local to this program DCUStartButton is the official name of the Start button of this program The Click part of the name of the sub refers to the fact that this code is associated with the Click event of the DCUStartButton We said earlier that this programs sends out the 16 output codes to the DCU How is that accomplished Later sections of this manual will explain the commands to control the DCU in som
89. les order codes and prices Physical Science with Computers esses PSC LP 35 Physical Science with Calculators cessus PSCALC 35 Biology with Computers eese BWC LP 35 Biology with Calculators eee BWCALC 35 Chemistry with Computers esses CWC LP 35 Chemistry with Calculators eese CWCALC 35 Middle School Science with Computers MSC LP 35 Middle School Science with Calculators MSCALC 35 Physics with Computers esee PWC LP 35 Physics with Calculators eene PWCALC 35 Water Quality with Computers esee WQC LP 35 Water Quality with Calculators sees WQCALC 35 Nuclear Radiation with Computers and Calculators NRCC 25 78 79 Appendix
90. m When writing the subroutines such as DCUCHECKP and DCUWAITP for REALbasic we were not able to find a way to provide a functional Stop button Instead we designed these methods to stop on the press of the Space Bar There is code to check for a press of the Space Bar and break out of the While loops if it is pressed The relevant code is if keyboard asynckeyDown amp h31 then BlankWaitTemp Status_Text_Box Text Done BlankWaitTemp SpacePressed refresh End if This tests the keyboard during the loop to see if the Space Bar key label amp h31 has been depressed If it has been we call another method in this example BlankWaitTemp which sets the ExitButtonClicked value to true The While loop is set to check the ExitButtonClicked value to decide whether or not to loop so it simply quits when you press the Space Bar This same idea needs to be used in programs similar to DCUTEMPC which include loops If you do not handle this properly you can get into a situation were the REALbasic program is running and there is no way to stop it Getting Data Back from LabPro In REALbasic programs that ask LabPro to return data or other information there are two ways to handle the data Normally whenever data is available on the serial port of the computer the Data Available subroutine listed under the serial control LabPro would automatically takes over and processes the data We have written programs to operate that way and it works fine
91. m instead of by the sample time set in the 3 command With the CBL 2 or LabPro the digital output will always be at the rate specified by the sample time in the 3 command Setting the DCU Output to Hold a Steady Pattern Original CBL If you are using the original CBL setting the digital output lines to hold one pattern takes a couple steps In this case you specify a one item sequence of outputs to go through and have it executed This will seem strange at first but it works To do this you use Commands 1 and 3 in this way 1 31 1 D gt Le Send Le 13 1 1 015L6 Send Le In this situation the output value D is the pattern you want to set and hold It can be any integer from 0 to 15 You specify this as the only element in the sequence You will have the CBL LabPro output a sequence of steps but in this case there is only one step The CBL LabPro will set the DCU output as you want and leave it until told to make another change 34 Digital Control Unit User s Manual In the 3 command the second number is the time which really does not matter in this case The next number is 1 indicating just one step When you execute these steps you simply set the status of the digital output lines as specified by D Using this idea here are some code samples we use a lot To turn off all of the digital output lines use 1 31 1 Le Send Le 13 1 1 015L6 Send Le An even better way to get all the lines turned off is to simply
92. mple you can attach a sub that monitors a photogate and reports the status By doing this you can fairly easily set a program up so that when the user clicks on a button the program will begin monitoring a photogate This is much simpler than trying to write your own code to monitor the photogate The code provided in the subs of our sample programs can do a lot of the work for you Now lets take a detailed look at the DCUCOUNT program Visual Basic Forms Double click on the highlighted text in the Project Project window in the upper right of the Visual Basic window to open the form for editing The main form of the DCUCOUNT program opens and you will see the user interface that we have created for the DCU programs 12 Digital Control Unit User s Manual Project Microsoft Visual Basic design 8 x File Edit view Project Format Debug Run Query Diagram Tools Add Ins Window Help B amp Beet cmAoc una MISIT Xs d 9330x6165 xj Project DCU Form PIGKETE DCIEVbD rojec vbp is DCUCOUNT B E Forms E BlankwaitTemp DCUCOUNT Outputs the fl DCU DCU Frm sequence 0 15 to the DCU amp Error commerroi Jocu Form z Alphabetic categorized DCU Appearance 1 3D AutoRedraw False BackColor amp H80000 BorderStyle 2 Sizable Caption DCUCOUNT ClipControls True ControlBox True DrawMode 13 Copy Pe DrawStyle 0 Solid DrawWidth 1 3 Enabled Tru
93. nd then QUIT and run the program again The program should then go through the pattern more slowly Now we want to make the program do something extra by using a subprogram We want it to buzz a speaker If you have a small speaker available connect the speaker wires between the D1 connection and a Ground connector If you do not have a speaker you can just watch the LEDs and see if the buzzing action is taking place Again display the DCUCOUNT program on the calculator screen Now we need to add the following lines to the program just after the PrgmDCUINIT 505F 55T PrgmDCUBUZZ These lines will tell the program to execute the subprogram DCUBUZZ using 50 for the frequency F and 5 for the number of seconds duration T You add this code to the program by going to the start of the line after where you want to add the new code and pressing 2 INS for insert Then type in the lines You will need to use the ALPHA key to type the User s Manual Digital Control Unit letters and the PRGM key selecting from a list of commands to insert the Prgm character Refer to your calculator manual if you are not familiar with editing programs Now press 2 and QUIT and run the program again The program should first buzz the speaker at a low frequency for 5 seconds then go through the pattern If you do not have a speaker just look at the 1 LED it should flicker You now have one example of how a calculator program can control the DCU Programmin
94. o If you are willing to modify the hardware and write your own programs you can also use the DCU connected to a Universal Lab Interface ULI and a computer Macintosh or Windows The Hardware Changes Needed to Use a DCU with a Universal Lab Interface The control lines on the DCU as shipped are designed for connection to a CBL LabPro If you are going to use the DCU with a Universal Lab Interface you need to open the box and solder on new control lines Remove the original control cable lines that connect to the CBL LabPro or just add the additional lines so that your DCU can be used with either interface While this may be a little unsightly leaving both sets of control lines on will give you the most flexibility on the use of the DCU The new control lines needed for ULI operation are two 6 pin U S telephone connectors Port 1 and Port 2 Open up the DCU box by removing the four screws Remove the circuit board Solder the wires from the 6 pin telephone connectors as shown in the diagram below If you only want to use the D1 and D2 lines you do not need to connect the ID INPUT DIGITAL OUT lines ID INPUT DIGITAL OUT PORT 1 ID INPUT DIGITAL OUT PORT 2 DIGITAL OUTPUT PORT 1 DIGITAL OUTPUT PORT 2 GND T5V c D03 C 9504 JAN D CLKOUT The Connection Points for the Cable to the ULI Software to Use the DCU with a Universal Lab Interface To write your own programs for the ULI you should obtain a copy
95. o a keypress Also not all possible combinations of outputs are possible so sometimes the program will shut off lines before it turns on a line DCUTRAP2 Used in a photogate DCUINIT triggered live trap DCUCHKP Monitors photogate to DCUWAITP detect animal then DCUPWRON D T turns on D1 to take DCUPULSK D action then pulses D2 D T DCUTRAP3 D N I Another live trap DCUINIT program this one uses DCUSTEPI D N stepper motors DCUWAITP Monitors photogate DCUCHKP connected to analog DCUOFF channel CH1 to detect animal then activates a 60 Digital Control Unit DCUWARNV DCUMONKY DCUDAISY DCUHAPPY DCU2 directly connected stepper motor to lower a trap door Warns when the signal gets too high by turning on D1 The sensor reading can be read on the original CBL as the program runs Monkey gun physics demonstration program A photogate should be connected to CHI of the original CBL and an electromagnet should be connected to D2 of the DCU Plays the song Bicycle Built For Two ona speaker connected to D1 of the DCU List L3 contains the note numbers and L2 has the duration of each note Plays the song Happy Birthday To You ona speaker connected to D1 of the DCU List L3 contains the note numbers and L2 has the duration of each note Turns on D1 D6 in succession on DCU connected to dig sonicl and then turns on D1 D6 in succession on dig sonic2 61 Appendix A DCUINIT DCUWAITV
96. of our ULI Software Developer s Guide order code ULI SDG 15 This manual explains how to use all the features of the ULI In particular it explains how the digital out lines are controlled Here is an overview of this process You communicate with a ULI by sending ASCII text commands via the serial port of the computer to the ULI When the ULI is reading sensors it sends the data back as ASCII text or binary To control the control lines you simply send the following ASCII commands to the ULI 67 Appendix C Digital Control Unit ESC A DG1 on ESC B DGl off ESCC DG2 on ESCD DG2 off ESCE DG3 off ESC F DG3 on ESC G DG4 off ESC H DG4 on As mentioned earlier it is much easier to use the DG1 and DG2 lines than the DG3 and DG4 lines on the ULI If you do want to use DG3 and DG4 you need to send a ESC J command first to set up the ULI so these lines can be used for digital output Also note the on off pattern is different on the DG3 and DG4 off on instead of on off Also remember that these commands set the status of the four digital output lines of the ULI These four lines control the six output lines of the DCU as shown below pug qe pup st Jp dE KACICE CET oa ae E E EEE Abia ea oer Noa alice ile Se tow ign tow tow x x i Hua a ea lo Pel ee tow tow high tow E x x ae ae ees tow high high tow x x ai aie aia iow AE ee IEN tow tow tow rion
97. ojects you can build using it for control Here are some projects ideas with a few tips and suggestions Flashing Lamps and LEDs You can use almost any lamp that has a voltage rating to match the DCU power supply you are using Many different types are available from electronic supply houses including Radio Shack Lamps are almost always non polarized so they do not have to be oriented in one particular way LEDs Light Emitting Diodes are very inexpensive and last almost forever LEDs are polarized so they must have their positive and negative leads oriented properly Normally the longer lead of an LED is positive Also the negative lead is usually marked with a flattened side on the LED In most cases you should connect a current limiting resistor in series with the LED This will limit the amount of current that flows through the LED Without this resistor the LED may quickly burn out There are now LEDs of many different colors there are even two color LEDs that will produce red if the current flows one way and green if the current flows the other way If you quickly switch the polarity of a bipolar LED you get orange It is easy to get the lamps and LEDs to flash in any pattern you want Many of the sample programs included do this Moving Displays Simple DC motors can be used to create rotating or moving displays Mount a colorful disk on a motor and have it spin to attract attention Wrap a string around the shaft of a motor and h
98. ond No to the question about saving changes to the previous program On the right side of the screen you will see the Project Window that has an hierarchical menu with an expandable entry labeled Forms Click on this to expand it if it is not already expanded and then double click on the entry DCU frm If you don t see the Project window on the top right go to the View menu and select Project Explorer We will study this DCUCOUNT program in some detail as an example of how Visual Basic programs are constructed Taking a Good Look at a Visual Basic Program Visual Basic is built around the use of forms Forms are the windows and dialog boxes that the program uses to display and collect information These forms contain objects like buttons and list boxes that allow information to be presented and also allow for user input buttons Each of the objects on a form can have Visual Basic code instructions for what the computer should do associated with it For example pressing a button will result in the code attached to the button being executed This is why Visual Basic is referred to as an Event Driven language Pressing a button is considered an event Visual Basic applications respond to these events Much of the code for a Visual Basic DCU program is included in the commands that take effect when these events happen We have also provided you with subprograms subs in the Visual Basic jargon that you can easily attach to an event So for exa
99. operties to be displayed in the Properties Window 4 This is the Serial Communications Control Just as we have buttons that allow user interaction with the program we have a Serial Communications Control which allows us to communicate with LabPro via the serial port This control is an important part of the program but you should not have to change anything about it in our programs It does not appear in the program window when you run the application It is only visible in this design view The Serial Communications Control has a name LabPro This control has properties associated with it like baud rate number of data bits etc clicking on it will bring up those properties in the Properties Window Note this view does not show a running program By selecting Start from the Run menu you can see what this program looks like when it is running If you do this press the Stop button on the program to get back to the design view 13 User s Manual Digital Control Unit Running The DCUCOUNT Program The DCUCOUNT is a program that we created to count through the 16 possible DCU outputs Each of the numbers 0 15 represents one of the 16 outputs to the DCU So a program that goes through each of the 16 outputs on the DCU would be a program that outputs the numbers 0 15 to the LabPro for use by the DCU It sends out a zero at the end to make sure all the lines are off Let s try running this program Select the Start command from the Run menu a
100. or details Project Microsoft Visual Basic design File Edit View Project Format Debug Run Query Diagram Tools Add Ins Window Help S9 i tium E EA MS d 18 38 A inz colt x General 78 Project DCU Code B3 e I Project1 DCU vbp B E Forms A abi The DCUStartButton Click Sub is the code that is executed every time the E BlankwaitTemp Si D Start button is pressed Put the code that you would like executed amp DCU DCU frm E when this button is pressed here This is where the main work of the program is Error commerroi uo done Private Sub DCUStartButton Clicki Fi LabPro Output s 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 vbCrLf 3 z E LabPro Output 3 3 1 17 0 vbCrLf Gi Eng Sub DCUStartBul CommandBut Z gm Alphabetic categorized This is the subroutine that handles what the program does when the Stop Button is pressed Usually you would have this program uu 8 call the DCUOFF subroutine to close the connection to the LabPro and exit the E ansooo0 TH Program True Private Sub DCUStopButton Click DCUOFF Subroutine to close turn off DCU Close Serial Port and exit the program End Sub Communications subroutine This is the code that the program executes each time the LabPro sends data to the computer This is only executed when LabPro Rthreshold number of bytes are sent in One OnComm event occurs for every LabPro Rthresho
101. order code ULI PS 9 00 a battery power supply one lantern battery or a collection of four to eight 1 5 volt cells in series To make the cable from the batteries to the DCU you need to use a 5 5 mm x 2 1 mm power connector Radio Shack part number 274 1569 Connect the leads so that the center of the connector is negative The voltage supplied can be anything between 5 volts and 12 volts One easy way to build a battery power supply is to use a holder for four C or D batteries in series which will provide about 6 volts Never apply more than 12 volts DC to the DCU Never use AC power supplies with the DCU Note that the center connector on the DCU is negative The transparent top of the DCU reveals six red LEDs and a green LED visible inside The green LED can be helpful to see if these conditions are met The DCU has power The CBL LabPro has power and if it is an original CBL it has been turned on e The DCU is properly connected to the Digital Out port on the CBL or to the Dig Sonicl port on the CBL 2 and LabPro On CBL 2 or LabPro only powered by batteries the green LED will only stay on after a command has been sent to keep the power on Therefore if your CBL 2 or LabPro is on batteries the green LED will not come on even if you do have it connected properly Learn to check this LED It can warn you if things are not set up correctly and it will keep you from wasting time when they aren t The red LEDs indicate the sta
102. ore slowly than before Exit REALbasic or open another DCU sample program if you like You may or may not want to save the changes you made You also can save your changed version of the program with a different name This is an example of how you can use the raw material we provide in the window of REALbasic code to create your own DCU control programs REALbasic is an extremely powerful programming tool but like most programming languages you must become familiar with the commands and syntax of the system For more details about what we have done to create this system read the REALbasic DCU Technical Reference Manual For more information about programming in REALbasic read the manuals that came with REALbasic Also refer the later sections of this manual especially Additional Notes on REALbasic Programming The best advice we have is to experiment Try things out see if they work The best way to learn programming is to actually do it 22 Digital Control Unit User s Manual Hardware Details of the DCU The DCU is a small box with a clear plastic top The short cable plugs into the CBL Digital Out or the Dig Sonic connector on a CBL 2 or LabPro On the same side of the DCU is a socket for a DC power supply Four different power sources can be used a LabPro power supply 6V regulated Vernier order code IPS 10 a CBL power supply 6V regulated Vernier order code TI 9201 15 a ULI power supply 9V unregulated Vernier
103. orking on and follows the new instruction There is a solution to this problem Use the Sleep subroutine method which is included in all of our sample programs to keep computer from going on while you wait for LabPro to finish a command The format of the command is Sleep X where X is the number of milliseconds to delay For example in the sample program above you could use Sleep 10000 We use this approach frequently in our sample programs Another good reason for using subprograms in your DCU programming is to avoid confusion of this sort If you need to turn on a line for a specific time use the subprogram DCUPWRON Simply specify the output you want D and the time you want the pattern held T and all this will be taken care of for you 45 User s Manual Digital Control Unit Power Control Whenever you use LabPro for Digital Output you probably want to set the LabPro to leave power on at all times You do this with the following command LabPro Write s 102 1 chr 10 We do this in the DCUINIT sub so you do not have to do it if you start with one of our sample programs DCUINIT The DCUINIT sub does several things First it opens the serial port It then checks to see if LabPro is properly attached to the serial port and powered up This is done by sending a 7 command to the LabPro a system status request If properly connected and powered LabPro responds by sending back a long string of characters We have
104. pletely independent control of the first three LEDs and then allows us to use the other three with restrictions The easiest way to see the restrictions is to examine the 16 possible outputs from the DCU x KK KY Xx EE e o u u X X X X X X X X e e e e k e k x Xx afe indicates the line is connected to the positive voltage of the ower supply indicates the line is connected to indi he line i d to the positi ltage of the DCU p pply indi he line i d ground negative lead of the DCU power supply and X means the line is disconnected The outputs 0 through 11 can be considered as the binary equivalent of the number with D1 used for the least significant bit D2 used for the second digit D3 for the third and D4 as the most significant bit Outputs 0 through 7 give totally independent control of the first three digital lines Outputs 12 through 15 are designed for controlling just D5 and D6 but do not allow any use of the first four lines One reason for this choice is to allow for building robot cars With such a car you might want one motor to be controlled by D1 and D2 and another to be controlled by D3 and D4 It would still be useful to have some other lines that could be used for other operations Lines D5 and D6 do this but these lines can only be used when lines D1 through D4 are off 24 Digital Control Unit User s Manual Pairs of DCU lines can be used tog
105. program should be called at the end of every main program Turns the output lines specified by D on and off relatively slowly The program continues until a key is pressed Turns on lines specified by D at half power for a specified 62 Variables that must be set F Frequency and T Time must be predefined Also F T must be lt 512 D digital output pattern must be predefined T Time less than 5 seconds on original CBL must be Digital Control Unit CBL CBL 2 LabPro Notes Use with all three the 512 point limit only applies to the original CBL On CBL 2 or LabPro the limit is 12 000 LabPro Only All this subprogram is essential on all CBL 2 and LabPro programs All Note this program sends a 0 command at the end to restore normal power control on CBL 2 or LabPro Use with all three the 5 second limit only applies to the original CBL Digital Control Unit DCUPWR3 subprogram DCUPWRON subprogram DCUSTEPI subprogram DCUSTEP2 subprogram DCUWAITD subprogram DCUWAITM subprogram DCUWAITP subprogram DCUWAITV subprogram DCUWHEL subprogram DCUWHELS subprogram time maximum 5 seconds Turns on lines specified by D at one third power for a specified time maximum 5 seconds Turns on line D for a time T Forces calculator to wait for CBL Subprogram that directly controls a stepper motor Controls a stepper
106. r computer e Download the software e nstall the software Repeat for each program e Add the XMComm control to the DCU form e Change the name of the XMComm control to LabPro e Change the setting of the control to 38400 e Doa global replacement of all instances of LabPro input with LabPro inputdata 78 Appendix G Vernier Products Vernier Software and Technology produces many sensors and books that can be used with the CBL or LabPro Free CBL LabPro data collection programs are available on our web site www vernier com There are versions of these data collection programs for all the TI graphing calculators Also available free on this web site is CBL Made Easy a guide to getting started using the Original CBL and TI graphing calculators and the LabPro Technical Reference Manual All TI graphing calculators LabPros CBLs and CBRs are also available from Vernier In addition Vernier has lab interfaces books and sensors for collecting data directly with either Windows or Macintosh computers Vernier Software and Technology 13979 SW Millikan Way Beaverton Oregon 97005 2886 b03 277 2299 FAX 503 277 2440 www vernier com info vernier com Sensors Vernier sensors with order codes ending in BTA plug directly into the CBL CBL 2 or LabPro Other Vernier sensors require adapters which sell for 5 The sensors with order codes ending in DIN require a DIN BTA adapter Here is a list of Vernier
107. rest of the code tells the computer where to send the data LabPro Write and where the command ends chr 10 If you wanted to have the LabPro turn on line 1 using the 2001 command you would use the following line in REALbasic LabPro Write s 2001 1 chr 10 Likewise setting up a sequence of outputs to be executed use this line LabPro Write s 1 31 5 1 2 3 4 5 chr 10 and to executing the sequence is done with this line LabPro Write s 3 1 5 0 chr 10 Serial Controls In REALbasic programs that use the serial port work though a serial control We suggest renaming the serial control to LabPro and changing the baud rate to 38 400 from the default of 57 600 If you want to change a property of the serial control follow this procedure Have the user interface window open select the serial control icon and then edit the baud rate value in the list of properties We have done this in our sample programs and that is one of the reasons we encourage you to start with the sample programs If you do not start with one of our 43 User s Manual Digital Control Unit sample programs you will have to drag a serial control onto your window and then at least make the change of its baud property You also may need to change the Port from 0 Modem Port to 1 Printer Port The other settings of the serial control should be Baud 38400 Bits 8 Parity No Stop Bits 1 All check boxes unchecked Interrupting the Progra
108. rial port The information on the right side of the equal sign is simply what you want to output The syntax of the information that LabPro needs to receive is s command vbCrLf The quotation marks are required they make sure that the data you want to send out is in a form readable by LabPro The vbCrLf at the end of the line simply adds a termination character to the information being sent out so that the LabPro will know that it has received an entire command Now let s look at the commands we wish to send in detail We first want to set up the Dig Sonic port with the 1 command so the code to do this will look like LabPro Output s 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 vbCrLf And the code to initiate the outputs to the DCU will look like LabPro Output s 3 1 17 0 vbCrLf This is the code that we see in the Sub that is executed on a click of the Start button 15 User s Manual Digital Control Unit Modifying the Program It s now time to customize the DCUCOUNT program and make it do something different We are going to make two changes First we will modify the program to make it go through the counting sequence more slowly This is a pretty easy change to make to the code The second number in a 3 command sets the time between steps of an output sequence This is the code that we see in the Sub All we have to do is to change the line with the 3 command so that it reads LabPro Output
109. rol as many as six electrical devices The output lines can be used in pairs to allow you to switch the polarity applied to an electrical component For example you can run a motor in either of two directions The pinouts and electrical specifications are explained later in this manual The Digital Control Unit Software Sample programs for controlling the DCU are provided on two disks that come with the package These disks contain programs that allow you to control the DCU using either computers or calculators One disk is for Windows users and the other is for Macintosh users The Windows disk includes Visual Basic versions of the programs The Macintosh disk contains REALbasic versions of the programs Both disks contain DCU programs for all of the following Texas Instruments graphing calculators TI 73 TI 82 TI 83 TI 83 TI 85 TI 86 TI 89 TI 92 and TI 92 You transfer these programs from your computer to your calculator by using the TI GRAPH LINK cable and software The DCU programs we include on the disks are designed to allow you to get started using your DCU right away More importantly they are meant to be used as raw material for you in your own programming You can start with and modify these programs much more quickly than you could write a program from scratch The programs are broken into subroutines which are sometimes called subs or methods These subroutines handle common DCU operations such as turning on a line for a given
110. run our sample subprogram DCUOFF which uses this idea Setting the DCU Output to a Steady LabPro and CBL 2 Only If you are using a CBL 2 and LabPro the command 2001 makes it easy to set the output pattern of the DCU To use it you simply use 12001 D 5Le Send Le Set output pattern to D Where D is the output pattern you want to set and hold It can be any integer from 0 to 15 To turn just the first digital output line on and leave it on until you send another command to turn it off use 2001 1 Le Send Le Having the DCU Output Hold a Setting for a Specific Time Many times you want to turn on a line for a specific time period To do this use Commands and 3 in this way 11 31 2 D 0 5L6 Send Le 13 1 2 015L6 Send Le In this case the output pattern has two elements D the pattern you want to set and hold and 0 The CBL LabPro will set the DCU output as you want and leave it that way for the time you used in the Command 3 line unless you send another command to the CBL LabPro before the time is up Here is an example To turn just the first digital output line on and leave it on for exactly 5 seconds use 11 31 2 1 0 5L6 Send Le 13 5 2 015L6 Send Le 35 User s Manual Digital Control Unit Reading a Sensor at the Same Time that You Control the DCU Often you will want to read the status of a sensor and use this to decide what the program should do with the DCU For example you may want to check a
111. s in the correct pattern to make the stepper motor move The DCUSTEP3 program is an improved more complicated program for controlling stepper motors Unipolar Stepper Motors Unipolar stepper motors are more difficult to figure out for wiring than bipolar ones Often all the ground wires are the same color or similar colors Use a meter and trial and error to figure out the wiring pattern Wire them as shown below G G Direct Connection of a Unipolar Stepper Motor The programs for unipolar stepper motor are the same as for bipolar Wired as shown above you can control the unipolar stepper motor using the DCUSTEPI subprogram You can also use the DCUSTEP program which uses DCUSTEP1 The DCUSTEPI program turns on the four coils in the correct pattern to make the stepper motor move The DCUSTEP3 program is an improved more complicated program for controlling stepper motors 52 Digital Control Unit User s Manual Note that the same program works for both unipolar and bipolar stepper motors Here is a chart of the output states showing various ways stepper motors can be used There are three different methods of driving a stepper motor Normal Half Step and Wave The DCUSTEPI program uses the Normal method In this case electromagnets inside the stepper motor are always turned on two at a time as the motor steps In the Half Step Method intermediate steps with only one electromagnet on at a time are included This gives you more
112. s longer even if no Get command is sent When a 1 is used in a Command 3 for real time data collection the timing of the program execution is controlled by the second number in the 3 command as usual If you are using an original CBL there can be some extra time delay between steps because the original CBL waits for each GET command before moving on to the next step If you try to go through a pattern too quickly the speed will be limited by the looping time of the calculator program instead of by the Sample Interval set in the 3 command With the CBL 2 or LabPro the digital output will always be at the exact rate specified by the Sample Interval in the 3 command 72 Appendix Using Visual Basic Learning Edition With The DCU Introduction The Visual Basic software provided with your DCU is intended to be used with either the Enterprise or Professional editions of Visual Basic 6 0 But because the prices of these versions of the language are quite high we wanted to see if it would be possible to use the more inexpensive Learning Edition version of Visual Basic with the DCU Other people have had this same problem and this appendix will show you how to modify our sample programs so that they will work with the Learning Edition Obtaining and Installing the Necessary Software The use of the Learning Edition of Visual Basic requires downloading one extra piece of software This software recreates the serial communication functionality of
113. second Wait for all 16 outputs to cycle through and press the Start button again The sequence should start over again You can continue doing this as many times as you like When you are done press the Stop button This button will cleanly discontinue communication with the LabPro and terminate the execution of the program It will return you to the design view that we saw earlier Examining the REALbasic Code Since the act of you pressing the Start button started the sequence of LED flashes there must be some code associated with that button that sends out the correct sequence to the DCU Let s take a look at this code With the DCUCOUNT user interface window open on the screen but not running double click on the Start button This will bring up a new screen that we haven t seen before This is where the code is written By double clicking on the Start button the code view has opened with the cursor placed in the section of code that is associated with the clicking of the Start button This is shown below fie Edit Format Debug Window Help ia ISUCOLINT T Contrada Sub Actions ERDCHTEMPRATESIBF Labpruwrite s 1 1 1600 12 9 4 5 8 7 8 9 10 11 12 13 14 15 0 cni 10 B mum Labpra write s 3 1 15 0 chri 10 End Sub E riuserires E reusetrier E riusssit E open E Chass E Grap t ject i DCHTEHPLATEStes EB rapat roria bra E Lapelz A LatPro E sebLate E
114. t the top of the screen This will bring up another window This is the actual running application You should see the words LabPro Found written in the ListBox at the bottom of the screen There are no DCU lights on and the program seems to be waiting for some sort of input from the user Try pressing the Start button This button starts sending the output sequence to the LabPro It sends each of the 16 possible outputs sequentially holding each output for 1 second Wait for all 16 outputs to cycle through and press the Start button again The sequence should start over again You can continue doing this as many times as you like When you are done press the Stop button This button will cleanly discontinue communication with the LabPro and terminate the execution of the program It will return you to the Visual Basic design view that we saw earlier Examining the Visual Basic Code Since the act of pressing the Start button started the sequence of LED flashes there must be some code associated with that button that sends out the correct sequence to the DCU Let s take a look at this code With the DCU form open on the screen but not running double click on the Start button This will open the DCU code window This is where the code is written and edited By double clicking on the Start button the code view has opened with the cursor placed in the section of code that is associated with the clicking of the Start button See the screen shot below f
115. t turns and tries a new direction when it gets within a specified distance of an obstacle Build an edge detector which can tell that the robot has reached the table edge and tell it to stop and back up Mount Magnetic Field Sensors on the robot so it can navigate using the earth s magnetic field Mount two light sensors pointed at the tabletop so that the robot can sense whether the tabletop is white reflecting a lot of light or black not reflecting much light Program the robot so that it follows a black line drawn on the table correcting its motion whenever it starts to move off the line Mount a motion detector on the robot and write a program which has the robot move just up to an object and then stop Light Seeker Another interesting project using feedback is to build a light seeker Mount two light sensors so that they point in slightly different directions on an apparatus that can be rotated Write a program that compares the light level detected by the two light sensors and then rotate the apparatus toward the one which detects the most light If this pattern continues the light seeker should always end up pointed at the brightest light source This is the basic concept used on some solar panels to track the sun Tea Maker We have made a stepper motor driven automatic tea maker The device consists of a tea bag a temperature probe and a conductivity probe mounted so that the stepper motor can raise or lower them into a te
116. temperature and turn on a fan motor if the temperature gets too hot Here is a sample program that shows this idea This program is for a DCU controlled alarm system It monitors an analog sensor on channel 1 and sets off a buzzer connected to D1 when the voltage goes over one volt prgmDCUINIT Initialize the CBL LabPro 11 1 141 5L6 Set up the channel 1 Send Le 15V Set the voltage limit 05S Initialize reading from the voltage probe 3 1 1 0 Le Take a voltage reading Send Le While S lt V Get S Get the voltage reading End 15D Set output pattern to be used 195T Set how long the output pattern will be held prgmDCUPWRON Turn on the buzzer Notice this program uses live real time data collection with a 1 in the 3 command When data collection is set up this way you can loop through a section of code and execute a GET statement many times Each time through one reading is taken from the sensor When the conditions to break out of the loop are met the DCUPWRON subprogram is used to turn on the buzzer Reading a Sensor as a Program Goes through a Sequence of Outputs Sometimes you will want to read the status of a sensor at the same time you are stepping through a sequence of output patterns For example you may want to flash a LED or operate a stepper motor while you are monitoring a sensor Here is a sample program that shows how this can be done prgmDCUINIT Initialize the CBL LabPro 11 31 4 5 9 10 6 5L6 Set up digital ou
117. ter should do associated with them For example pressing a button will result in the code attached to the button being executed This is why REALbasic is referred to as an Event Driven language Pressing a button is considered an Event We have provided you with subroutines Methods in the REALbasic jargon that you can easily attach to an event So for example you can attach a method that monitors a photogate and reports the status By doing this you can fairly easily set a program up so that when the user clicks on a button the program will begin monitoring a photogate This is much simpler than trying to write your own code to monitor the photogate The code provided in the methods of our sample programs can do a lot of the work for you Now lets take a detailed look at the DCUCOUNT program 18 Digital Control Unit User s Manual REALbasic Windows Ale Edit Format Debug Window Help 12 40 PM E Mer O SianevwaitTamp Bj ncucaunr SIT Ej Commerror mai DEIN ENE E ocucoust outputs me I sequence 0 15 tothe Dau View of the Main DCU Window Key parts of a REALbasic program are labeled with numbers on the figure above We will try to explain what each of these numbered windows and objects does below 1 This is the main window of the program with the user interface It is technically referred to as the Window Editor It controls what the application that we have developed looks like Notice how there are several
118. the computer only one line is needed to send commands Here are sample code sending out a command of 3 1 2 0 This format will be repeated many times in a program as various commands are sent out Using a TI 83 13 1 2 0 gt Le6 Send Le Using Visual Basic LabPro Output s 3 1 2 0 VbCrLf Using REALbasic LabPro Write s 3 1 2 0 chr 10 For the rest of the next two sections we will concentrate on the commands sent out and not worry about the details of the way the commands are sent We will list our examples in pseudocode which explains what the program is doing but is not the exact characters not the exact syntax that the programming language requires 27 User s Manual Digital Control Unit Programs for reading sensors connected to the CBL LabPro usually follow this basic pattern e Use Command 0 to initialize the CBL LabPro e Use a Command 1 to set up the channels to which the sensors are connected Optional Use a Command 4 to specify the calibration to be used e Use a Command 3 to initiate data collection e Get and process the data Here is a more specific example of a CBL LabPro data collection program that we will explain in some detail This program takes readings from a Barometer sensor It will take 50 readings 0 25 seconds apart We will go over the program a line at a time below Send Out 0 initialize CBL LabPro Send Out 1 1 14 0 0 1 set up channel Send Out 4 1 1 1 8 729 8 271 specif
119. the computer sleep for 200 milliseconds and then examine the data returned If we verify that the a LabPro is properly connected we indicate so in the list box If the proper string of data is not returned a Dialog box is displayed to inform the user of an error in communication This dialog allows the user to retry the connection until it is successful Finally the DCUINIT routine sets the LabPro power to be always on Understanding How Digital Outputs are Controlled with 3 Commands The exact timing of when digital output lines go on and off when you use a sequence of patterns set up with a 1 command and then a 3 command can be confusing In the samples below the graphs represent the voltage out vs time from D1 when the commands listed at the right are executed Each set of commands attempts to get the line to go high three times and stay high for one second each time Only the last one works correctly Time 2 3 4 5 e 1 31 5 1 0 1 0 1 13 150 102 1 11 31 5 1 0 1 0 1 13 15 01 02 1 1 316 11 0 1 0 1 0 31 5 0 The first attempt fails because in this case perhaps the command to leave the LabPro power on 102 1 has not been executed The second attempt fails because there last of the five steps leaves the line on The last attempt works because it forces the voltage back to low after the third pulse is completed The best way to think about what is going on here is that the first step happens at time zero on the graphs
120. tion 2001 First Printing Printed in the United States of America Contents Introducti OM s Sse dpe deh dogdessh P 7 First Use of the DCU with a Calculator ener ene E nette EE EERE A KORE AVERE I EES KEREI t 8 First Use of the DCU with Visual Basic Windows esses eene ennnnr enne en ner sse en tentent nnne nnne er nnns nens 11 First Use of the DCU with REALbasic Macintosh essesssesseeeeeeeee ener enne enne enne ren terrse nenne rente seen tenens 17 Hardware D tails of the DOU sci tere Rte ite tete ec ee eate rtp eir prie eripi eate ie etr Ehre 23 More about the Sample DCU Programs on the Disks seeeeeeeeeeeeneene eene nennen nenne enne enee tenete trennen trennen 25 Programming the CBL LabPro for Data Collection seeseeseeeeseeeeneeneeeeneee nennen nennen rennen nenne entente retener entrent 27 Programmmg tor the DCUs eset ote head eniti pe nee nile oe ans eet Pen U GU 30 Additional Notes on Calculator Programming sese EERE EEEo ekoa rE REESE Eh V emet retenir tene S trennen teen 34 Additional Notes on Visual Basic Programming sees nennen tren nretren tenete ene tnee tenete ee tren testen et 39 Additional Notes on REALbasic Programming eseseeseeseeseeereneenneenee enne neen trennen nen tren reset rennen eee ne tenete entren trennen 43 Connecting Devices tothe DCU goerie ge
121. tive and Negative Leads You can wire up to six polarized devices in the same way using connections 1 6 for the positive leads and the G connections for the negative leads Connecting a Motor for Running in Either Direction Simple DC motors can be wired as shown above and they will either be off or on rotating in one particular direction If you want to have the ability to run the motor either direction you have to wire it as shown below Wiring of a Simple DC Motor to Run Either Direction For a motor wired this way you will get one direction of rotation if D1 is high and D2 is low You will get the opposite rotation if D2 is high and D1 is low It will be off for all other patterns You can connect a second motor wired this way to D3 and D4 and even a third motor connected to D5 and D6 The chart below shows the output patterns of the DCU and the direction of rotation of three motors that can be wired using output pairs 1 2 3 4 and 5 6 50 Digital Control Unit User s Manual puri 3 ipi 5 Off Off Output sem ee ee 2EBECDUCCHUCCUD Pepe Pace or on few efx x fe or on cow CW Clockwise CCW Counterclockwise Connecting Stepper Motors Stepper motors are very different from simple commutator motors which have two lead wires Stepper motors are used in cases where you want to have exact control of a motion Examples include the positioning of the head on a disk drive or the laser in a CD
122. tor to close a trap The program DCUTRAP3 does a similar thing using a stepper motor to lower a door Alarms Controlled by Motion Detectors Another fun project is to set up a warning system using a Motion Detector Motion Detectors have a range up to six meters if oriented carefully The program DCUALARM is an example We have used this for sounding a buzzer whenever someone walks in range of the motion detector We have also used it outside with the buzzer inside to detect deer and alert us to look outside so we can see them Note that it is only possible to use motion detectors in conjunction with the DCU on the original CBL or the LabPro not CBL 2 Activating Camera Shutters Some cameras have connectors so that they can be activated by an electrical signal To get photos of animals in the wild you can use this idea to have the DCU trip the camera shutter when an animal is detected by either a photogate or a Motion Detector Stepper Motor Projects Stepper motors are great for projects You can control the exact position of the rotating part of the motor There are many surplus stepper motors around left over from disk drives and similar devices Some stepper motors have as few as 48 steps in a complete rotation Many come with built in gear systems to provide hundreds or even thousands of steps per rotation This also increases the torque of the motor A DCU Controlled Robot Using DC Motors One popular project is to build a robot with
123. tors lamps LEDs buzzers stepper motors and other DC electrical devices You can even develop more elaborate projects such as robots that move around the room or automated scientific apparatus The most exciting projects involve combining the use of sensors connected to the CBL LabPro with output from the DCU Examples include alarm systems temperature controlled environments and smart robots The Digital Control Unit Hardware The Digital Control Unit DCU is a small box with a short cable There are two versions DCU CBL for use with the original CBL and CBL BTA for use with CBL 2 or LabPro The cable from the DCU CBL plugs into the Digital Out connector on the original CBL The cable on the CBL BTD plugs into the Dig Sonic connector for a CBL 2 or LabPro The DCU has a socket for a DC power supply normally a 6 volt CBL or LabPro power supply is used although others can be substituted The top of the DCU is transparent There are six red LEDs and one green LED visible inside the unit The green LED indicates that power is on and that the DCU is properly connected to the CBL LabPro The red LEDs indicate the status of the six output lines of the DCU There is a 9 pin D sub socket on the side of the DCU for connecting electronic devices that you build There are connections for all six digital lines plus power and ground We supply a cable with bare wire on one end for you to use in building your first projects You can use the DCU to cont
124. tput lines for running a stepper motor Send Le 1 1 10 Le Set up CH1 for reading a temperature probe Celsius mode Send Le G gt T Initialize a variable to represent temperature While T lt 23 Start a loop that will repeat until 23 degrees is reached 13 2 4 0 5L6 Sample sensor and change the digital output Send Le Get La Get the temperatures mean La gt T Calculate the mean temperature Disp T Display the mean temperature reading on the calculator End End of the loop This program will operate a stepper motor or just flash the LEDs on the DCU as it reads temperatures It repeats this until the temperature reaches 23 degrees and then it stops 36 Digital Control Unit User s Manual Making Sure the CBL LabPro Finishes Its Work before Your Calculator Program Moves On One thing that can cause confusion when programming the DCU is when the calculator goes on with its program before the CBL LabPro has time to finish what it is doing This can cause two different types of confusion For example consider this program prgmDCUINIT Initialize the CBL LabPro 11 31 2 0 7 5L6 Set up the digital output to turn the first 3 lines on and off Send Le 3 1 100 0 gt Le Go through 100 steps each taking 1 second Send Le Disp DONE Display message on calculator when program is finished When you execute a program like this you may be surprised that the calculator indicates that the program is finished but the CBL LabPro
125. tus of the six output lines We refer to them as D1 D2 D3 D4 D5 and D6 You can think of the DCU as a set of six remote controlled switches Each of the six lines from the DCU is connected to a switch that can have any one of three positions No D1 Connection o DCU Line A The line can be connected to the positive side of the DCU power supply to the negative side of the power supply or left unconnected There are six switches of this type inside the DCU Actually they are not mechanical switches as shown here but rather electronic switches using transistors They function like the mechanical switch illustrated If you connect an electrical device such as a motor or lamp between the DCU line and a ground connection you can control whether it is on or off using this switch If the switch is in the position current will flow and the device will be on Either of the other two positions will turn it off 23 Us er s Manual Digital Control Unit If you have read the specifications in the documentation which came with the CBL CBL 2 or LabPro you may be surprised to see that there are six digital output lines on the DCU There are only four digital output lines on each digital port We do some digital logic tricks to allow us to control six instead of four lines Of course we had to pay a price for this trickery We no longer have totally independent control of all six lines We compromised on a pattern which allows us com
126. type of program the CBL LabPro takes one reading the calculator or computer retrieves the reading and usually does something with it such as put a point on a graph and then the program loops and repeats Here is a second sample program similar to the first but with live data collection Send Out 0 initialize CBL LabPro Send Out 1 1 14 0 0 1 set up channel Send Out 4 1 1 1 8 729 8 271 specify calibration Send Out 3 1 1 0 start data collection Label A Label this point in the code Get Resulting Data get data measured values followed by times Goto A Loop back to A and repeat This program is the same as the previous sample through the first three lines After that the data collection portion is very different Here is what is going on in the last portion of the program Notice that the 3 command has a 1 for the third number as the number of samples The 1 in the 3 command tells the LabPro CBL to take one reading and continue on with the program The program then gets the data and loops back to the point A in the program This loop continues until the program is interrupted This type of data collection works great for many programs where you just want to monitor some reading from a sensor and take action if it exceeds a certain specified value for example a program that turns on a fan if a temperature gets too high Other Notes on Programming to Read Sensors As mentioned above this is a summary of the most important t
127. ual Basic how many characters to extract Next we use a function called Trim which peels off the leading and trailing whitespace on a string By using the Trim function after the Mid function we turn our data string into n nnnnnE tnn Now we have the data in a standard format rather than an exponential one so once again the mid function will come in handy First to get the mantissa of the number Mid string name 1 8 which will give us the n nnnnn part of the number And then to get the exponent Mid string name 10 3 which will give us the trailing nn which could also be nn if the number is greater than 0 but less than one This method should give correct values for numbers ranging from 10 to 10 Visual Basic Data Collection Programs for LabPro We have included some sample programs to demonstrate programming for collecting data using sensors with LabPro without a DCU on the Windows disk There is a simple real time live data collection program and non real time data collection program and a program that lets you type command strings and send them to LabPro This program shows the data as it is returned from LabPro It provides a good way to learn about how LabPro functions How commands are sent to LabPro for controlling the DCU LabPro is controlled by sending strings of integers called commands out through the serial port On a TI calculator this was accomplished by sending lists out to LabPro In Visual Basic we use t
128. uld flash on and off four times The status of the LEDs would change every 0 5 seconds Setting the DCU to Hold a Steady Output Pattern The original CBL was designed for sending sequences of outputs to the Digital output lines This works great for setting off 31 User s Manual Digital Control Unit a sequence of flashing LEDs or sending a pattern of outputs to control a stepper motor through many steps But there was no one step command to tell the original CBL to turn on a certain Digital output line and leave it that way We had to use a multi step process to get this job done Using a CBL 2 or LabPro there is a single command which allows you to turn on or off each of the digital lines which will be explained below The multi step method that works for the original CBL and the newer interface is explained here We use it a lot in our calculator programs In this case you specify a one item sequence of outputs to go through and have it executed This will seem strange at first but it works To do this you use Commands 1 and 3 in this way Send Out 1 31 1 D Send Out 3 1 1 0 In this situation the output value D is the pattern you want to set and hold It can be any integer from 0 to 15 You specify this as the only element in the sequence You will have the CBL LabPro output a sequence of steps but in this case there is only one step The CBL LabPro will set the DCU output as you want and leave it that way until told to
129. urning off all port power in approximately 0 25 seconds If n is an integer between 1 and 999 the interface will wait for n seconds before taking the first sample This is intended to give time for sensors to warm up and stabilize prior to sampling This command needs to be resent after every reset command 0 Using this command to always keep the power on n 1 can make the digital output commands work more like the original CBL Be sure to send the 102 0 command when you are finished with the interface Otherwise you may be draining your batteries unnecessarily In the absence of communication from a host the interface will go to sleep in about 10 minutes regardless of a 102 1 command 2001 n Instant digital output command Turns on the appropriate lines at any time during sampling or not On the CBL 2 n can be an integer from 0 15 representing the four digital output lines in binary On the LabPro n can be an integer from 0 255 and effects all eight digital output lines four on channel 31 and four on channel 32 For example a 2001 17 will set the lowest digital line on both ports high and all other lines low The 0 reset all command will not always bring high lines to a low state Instead use 2001 0 to force all lines low There are also new commands which automatically calculate a heart respiration rate from collected data allow for digital data capture using photogates monitor radiation monitors and rotary motion s
130. ut V C1rHome 1085S Disp WAITING FOR Disp DISTANCE Disp TO BE LESS Disp THAN Disp V C1rHome Output 1 1 PRESS TO QUIT prgmDCUWAITM If Sz0 Then 15D 105T C1rHome prgmDCUPWRON End C1rHome prgmDCUOFF Appendix B Program DCUCAR ClrHome 15T prgmDCUINIT Disp READY FOR ACTION Disp USE ARROWS Disp FOR MOTION Disp PRESS TO Disp QUIT Lb1 A 05D getKey gt K If K 25 15D If K 34 22D If K 24 35D If K 26 45D If K 95 Goto Z If D 0 Goto A prgmDCUWHEEL Goto A Lb Z prgmDCUOFF Program DCUWAITM original CBL version change the 11 to a 12 for LabPro 1 11 2 Le Send Le 65S Send Le Output 2 1 WAITING FOR Output 3 1 DISTANCE Output 4 1 TO BE LESS Output 5 1 THAN Output 5 6 V 3 1 1 0 5Le Send Le While S gt V Get S 66 Digital Control Unit Output 7 1 S getKey gt K If K 95 05S End Program DCUWHEEL 1 1 14 Le Send Le Disp DIRECTION If D 1 Then Disp FORWARD 11 31 2 5 0 5L6 Goto A End If D 2 Then Disp BACKWARD 11 31 2 10 015L6 Goto A End If D 3 Then Disp LEFT 11 31 2 6 0 5L6 Goto A End If D 4 Then Disp RIGHT 11 31 2 9 0 5L6 Lb1 A Send Le Disp T Disp SECONDS 13 T 2 0 5Le Send Le Get I Appendix Using the DCU with a ULI The Digital Control Unit was designed to make it easy to control motors lamps buzzers and similar devices using the CBL LabPr
131. vents The Peau Hareters Metina Cl Prepartion uou FSF FS a View of the code that is associated with the Start button 20 Digital Control Unit User s Manual Let s look at exactly what we have here On the left side of this window you should see a hierarchical listing of entries The item at the top of this list is Controls This item is opened in the hierarchical view and we see several sub items in this list including DCUTEMPLATEStart and DCUTEMPLATEStop These two enteries correspond to the Start and Stop button that you see on the window Now notice that the DCUTEMPLATEStart entry is also expanded and we see several Method below it The one that is selected is labeled Action This Action entry contains the code that will be executed when the Start button is pressed We said earlier that we wanted to sent out all the possible output codes to the DCU How is that accomplished Later sections of this manual will explain the commands to control the DCU in some detail we will just look at this one simple task We first set up the sequence of steps that we want to send to the DCU Then we issue a command for the LabPro to actually start through the sequence of outputs In this case we are using the following command to set up the sequence 1 31 17 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 Here the 1 tells the LabPro we are setting up a channel the 31 tells the LabPro that we want to setup channel 31 which is Dig Sonic 1 the 17 tells the
132. y calibration Send Out 3 25 50 0 0 0 0 0 1 start data collection Get Resulting Data get data measured values first then times The first line initializes the CBL LabPro using a Command 0 Remember the first number in the list is the command type Include this code in your programs or even better use our subroutine DCUINIT to do this job and also do some other preliminary things that are especially important on CBL 2 or LabPro If this program was to be changed to use the DCUINIT subroutine you would replace the command 0 line with a call of the subroutine DCUINIT This is the approach we use in most of our sample programs The second line of our pseudocode is used to set up the channel for reading data Send Out 1 1 14 0 0 1 The 1 command when sent to the CBL LabPro specifies a number of things about how data is handled The syntax for this command when used with sensors is 1 channel operation postprocessing statistics conversion Not all of these are important and you will rarely use some of them Use zeros or leave them out so the default value of zero is used Here are the important parameters channel The input channel is specified with the second number in the list For analog sensors you can use 1 2 or 3 or 4 LabPro only for CH1 CH2 CH3 or CH4 For a motion detector you use 11 On a LabPro you can also use 12 for a motion detector connected to Dig Sonic 2 operation The third number in the comm
133. you leave it exposed it could short out against one of the other bare wires This could damage the power supply To avoid this once you identify the 9 lead wires on the cable cut the bare wire off of the connection This lead is not used very often We have cut this wire on the prepared cable we include with the DCU So what can you connect to the DCU output lines The general answer is any electrical device which is meant to run on DC electricity at a voltage that matches the voltage you are using for your power DCU power supply Most of the time the Labpro or CBL power supply is used with the DCU and it is a 6 volt power supply If you are using this power supply you should use 6 volt devices Thousands of different motors stepper motors lamps buzzers solenoids and other devices are designed to run at 6 volts There is another issue that may come up in considering whether a specific device can be used This is the current that the 47 User s Manual Digital Control Unit device will draw Any power supply you use will have a maximum current that it can supply without overheating or shutting down For the CBL power supply this is 300 mA 20 3 amperes For the LabPro power supply it is 600 mA 0 6 amperes If you connect a device or devices which will draw more current than this limit things will not work properly and you could damage the power supply If you connect something that draws too much current you will notice the

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