報告書 - 富山高等専門学校 由井研究室
Contents
1. Z 1ow LED 4000 6 1 6 2 H 1 6 3 11 ROTARY ENCODER 6 2 12 count amp 3ET M E EED BEIF owth 7 owh 7 cnuntl 1 N FED AtB dh ieh fh countl 1 pr a Y 7 EDI d count T y count N S count 399 countt39988 T Z e2. CAD CAM 1 2 6 2 HZ amp Tv5 TE
3. o 43
4. 2 1 6 X 2 2 2 1 MOTOMAN HP5 2 2 6 YR HP5 A00 3 831 3 1
5. USB 1 MPLAB EE EYRI USB PIC16 PIC18 PIC24 dsPIC30F dsPIC883F MPLAB ICD 2 10 Vpp MCLR Vss ground MCLR ICSPDAT PGD 6 ICSPCLK PGC Auxillary PICkit 2 5 1 6 USB 6 USB MPLAB C18 LT 4 2 A B 1 1 Z low
6. OMRON 3 1 3 1 3 1 E6J CWZ1E DC5V 5 40mA A B Z 100kHz A B 90 45 2 2kQ 0 5V 20mA 2 s 1mN m 0 045 x 107kg m2 6000r min 1 9N 1 9N 3 2 PIC18F2550 USB as USB PIC18F2550 USB L 1 13 3 2
7. A B Y A TH B fH 4 1 CW X 4 2 4 1 A B HD B high SHO A 1ow B fH low high A A low high low high 5 PICkit 2 4 2 MICROCHIP PICkit 2 5 1
8. NI USB 6509 USB 17 78 cm 10 30 cm 3 34 cm LO 0 050 D 100 VO 96 DIO 0 5 V 0 5 V 24 mA 1 5 A 3 4 X 3 4 5 1 3 5 3 4 X 3 5 4 X 4 1 4 1 H TH ew 2 A
9. USB PIC18F2550 USB mini 40mm X18mm 28 IC TR 20MHz PLL 48MHz USB 5V i j0 8 C18 StudentEdition AKTI PIC Ver4 PIC18F2550 IC2 XC6202P502 0 1uF 10uF 4 EXT POWER USB POWER USB miniB 3 2 3 8 TO 6 96 I O NI USB 6509 3 3 TO 3 2 DO 3 3 TO 3 2
10. IO 7 1 X X 14 ROTARY ENCODER 7 2 NI USB 6509 7 8 15 74 16 7 1 1 2 3 RA1 47 0 0 RA1 31 P1 0 RA1 15 P2 0 RA2 45 P0 1 RA2 29 P1 1 RA2 13 P2 1 RA3 43 P0 2 RA3 27 P1 2 RA3 11 P2 2 RA4 41 P0 3 RA4 25 P1 3 RA4 9 P2 3 RA5 39 P0 4 RA5 23 P1 4 RA5 7 P2 4 RB1 37 P0 5 RB1 21 P1 5 RB1 5 P2 5 RB2 35 P0 6 RB2 19 P1 6 RB2 3 P2 6 RB3 33 P0 7 RB3 17 1 7 RB3 1 P2 7 RB4 48 P3 0 RB4 32 P4 0 RB4 16 P5 0 RB5 46 P3 1 RB5 30 P4 1 RB5 14 P5 1 RB6 44 P3 2 RB6 28 P4 2 RB6 12 P5 2 RB7 42 P3 3 RB7 26 P4 3 RB7 10 P5 3 4 5 6 RA1 97 P6 0 RA1 81 P7 0 RA1 65 P8 0 RA2 95 P6 1 RA2 79 P7 1 RA2 63 P8 1 RA3 93 P6 2 RA3 77 P7 2 RA3 61 P8 2 RA4 91 P6 3 RA4 75 P7 3 RA4 59 P8 3 RA5 89 P6 4 RA5 73 P7 4 RA5 57 P8 4 RB1 87 P6 5 RB1 71 P7 5 RB1 55 P8 5 RB2 85 P6 6 RB2 69 P7 6 RB2 53 P8 6 RB3 83 P6 7 RB3 67 P7 7 RB3 51 P8 7 RB4 98 P9 0 RB4 82 P10 0 RB4 66 P11 0 RB5 96
11. 32 10 101 1 include lt stdio h gt include lt p18cxxx h gt include lt usart h gt include system typedefs h 7 Required Zinclude system usb usb h Required include io cfg h Required Zinclude systemXusbYXusb compile time validation h ll Optional include delays h include stdlib h Zpragma config FOSC HSPLL HS Zpragma config WDT OFF Zpragma config PLLDIV 5 Zpragma config CPUDIV OSC1_PLL2 Zpragma config USBDIV 2 Zpragma config PWRT ON Zpragma config BOR ON Zpragma config BORV 3 Zpragma config LVP OFF Zpragma config VREGEN ON Zpragma config MCLRE ON Zpragma config PBADEN OFF int CHANGE char char int int HANTEI charint void ltostring char digit int data char buffer char Messagel l2 char input buffer 64 I USB char output buffer 64 J USB 33 void main void char cur saved int count 0 TRISA 0b00000010 TRISB 0b00001110 saved saved saved amp 0500000110 PORTAbits RA1 0 OpenUSART USART TX INT OFF amp USART RX INT OFF amp USART ASYNCH MODE amp USART EIGHT BIT amp USART CONT RX amp USART BRGH HIGH 51 TXSTAbits SENDB 0 while BusyUSARTO putsUSART Message1 putsUSART Message1 USB mlnitializeUSBDriverO ll See usbdrvh while 1 USBChe
12. go m e ES SU X Ni 3 dk Mi p L R U JAPAN Mense AGE IBe nackyvi Sia pocos 0951 4 2 nom 8 2 LabVIEW 19 1 8 3 1 x 20 050 y 205110 2 0 E 8 8 1 2 1 z 60 20 050 y 205110 z 60 3 8 4 0 3 xy P 58 0 20 8 20 58 0 20 cos 58 0 20 2 60 58 0 2 7 3 0 1 x 8 4 3 4 8 5 a 8 5 b A
13. F E 0 tan 17 1 29 xs ys zz xs ys zs 27 xs xs 1 FIORI R 0 Za R 0 xs HEDRA Ry 0 Ys cos Zs R sin F zz HAORA R 0 sinF Za R4 cos F xs ys zs 6 0 1 0 0 0 6 6 0 cosF 58 6 0 sinF cosF 0 6 1 0 0 0 1 1 1 0 0 0 _ 0 cos 0 1 29 0 1 29 58 0 sin 1 29 cos 1 29 0 0 0 0 1 cos 0 sm 0 0 0 1 0 0 18cos SinO 0 cosO 0 18sm 0 0 0 1 1 28 0 0 0 0 962 0 273 62 4 0 273 0 962 0 0 0 1 X 810 6 3 8 11 xs ys zs Gx4y4z xs R 1 y4
14. m 77 count 1 if count 4000 1 count 0 j j else 1 count 1 if count 1 1 count 3999 j j z cur amp 0b000000001 if z 0b000000001 1 count 1 if count 1 1 count 3999 else 1 count 1 if count 4000 1 count 0 40 A A high count 1 count 4000 2 HJ J count count 1 J count 23 1 count 3999 gt H D A R23 high 2l A RIT count 1 J count 23 1 count 3999 count 1 count 4000 Mm Il count return count count 10 3 EEGI GG Fs 54 Fs 55 GG 7 57 GG OE GG mo GG GG 1464 15 65 Le es er efes GG 20 7o BIEI 22 72 24 74 as s 26 6 277 2a 29 79 Fs er 32 ez 34 Fas es Fas es er Fas es 39 eo ala La or 42 92 44 EG 4 96 47 97 os 49 oo 50 GND 41 DId
15. jud 2 7 1 P5 7 2 5 6 4 5 5 6 O P2 4 7 P5 4 8 PA 2 2 11 5 2 12 Sraa 5 1 14 args 8 5 0 16 PD 4 7 18 S P4 6 20 S P4 5 22 ios 5 4 4 24 5 P4 3 26 nura P4 2 28 Bida 4 1 30 Pio P4 0 32 P3 7 34 do naz P3 6 36 P0 4 39 O P3 4 40 G s P3 3 42 MS 0 1 45 0 0 47 P3 0 48 S T GND 50 8 7 51 Ge Gn a PET AES SE RSS MM Eid gnn Ga ED ped 7 68 Qs ds 3 P7 6 69 Rn iode RUNE Diss Po va GE Re paris 9 7 84 8 iss P9 6 86 POS P6 4 89 9 4 90 e P9 3 92 6 1095 P9 1 96 O P9 0 98 5 GND 100 Nr Nr A U 11 LKE 2 3 MOTOMAN HP5 HWO0482727 12
16. saved PORTC PORTC saved saved amp 0b00000011 I A TB B 38 PORTCbits RC6 0 RC6 0V LED while 1 7 1 PORTC PORTC cur cur amp 0500000011 A B if cur saved 7 A B 1 else 1 count CHANG E cur saved count I CHANGE saved cur PORTA count 32 lt lt 1 I count 32 PORTA 1 y count 32 1 count 32 y PORTB y lt lt 1 7 y PORTB 1 int CHANGE char cur char saved int count J CHANGE 1 char w X y Z w PORTC amp 0b00000100 Z if w 0500000000 7Z low 1 PORTCbits RC6 1 RC6 5V LED count 0 J count else 1 x saved amp 0500000010 B if x 0500000010 B high 39 else amp 0500000001 if y 0500000001
17. return count void ltostring char digit int data char buffer 1 char 1 buffer digit forG digiti 1 gt 0 1 1 7 buffer 1 buffer data 10 0 data data 10 1 87 10 2 2 Zinclude lt stdio h gt Zinclude lt p18cxxx h gt include lt usart h gt Zinclude system typedefs h 7 Required Zinclude system usb usb h 7 Required Zinclude io cfg h Required Zinclude systemYXusbYXusb compile time validation h ll Optional include delays h include stdlib h Zpragma config FOSC HSPLL HS Zpragma config WDT OFF Zpragma config PLLDIV 5 Zpragma config CPUDIV OSC1_PLL2 Zpragma config USBDIV 2 Zpragma config ON Zpragma config BOR ON Zpragma config BORV 3 Zpragma config LVP OFF Zpragma config VREGEN ON Zpragma config MCLRE ON Zpragma config PBADEN OFF int CHANGE charichariint void main void main char cur saved x 12 1 int count 0 y 1 TRISA 0b00000000 PORTA 0 1 TRISB 0b00000000 PORTB TRISC 0100000111 PORTC
18. 1 za x4 0 Rs 0 ya z4 KoT 6 sin cos 0 eos0 sm 0 0 0 1 1 0 0 0 sin cos 0 _ cos sm 0 0 0 1 0 0 0 0 0 cos 1 29 0 sin 0 1 29 0 0 cos 0 sm 0 1 0 sinO 0 cosd 0 0 0 R 1 8 6 01 p 0 6 016 1 1 0 0 0 0 0 cos 0 58 010 sm cos 0 140 0 0 1 0 0Y1 0 0 0 0 1 29 58 0 0 962 0 273 624 cos 1 29 0 0 0 273 0 962 0 0 1AO 0 0 1 0 0 0 18 0 0 18sin 1 1 12 6 31 e 6 LabVIEW
19. 20 3 20 8 2 NTRE 1 1 Io 1 PR Qu ER CRM A 1 vp Bars er US URS ooi cecinere etc fedet enti coetu dee tort ivt d dete 2 2 3 2 PIC18F2550 USB i 4 T T 5 SARE NNNM RD X RES 7 4 9 10 c MC 11 E p P 14 8 LabVIEW 3 XC RIS DAR DD Lei seen oo rtu sue RM ntes die m Phe de repu sms 18 OE 32 EOE a 33 LE eate EN lt 33 38 y A TT 41 E TT 43 D RR IE 48 AN 1 zu 11 CAD CAM Computer Aided Design Computer Aided Engineering
20. 58 62 4cos 6 1 29 SR R 4 1253 7233cos 1 29 cos y uus zi ees Ln 1 29 5 58 62 4cos 0 1 29 y cos 47253 7233 cos 1 29 cog 0 cos 4 7253 7233 cos 1 29 y 7753 12330038 1 29 28 62 0 1 29 20 sm Y7253 7233cos 1 29 58 62 4cos 0 1 29 2 60 47253 7233 cos 9 1 29 cos 4 7253 7233 0 1 29 23 6 6 3 8 lt gt 60 5 4 R a 8 6 b 5 1H 8 7 Gxr yi z xi 1 yi 1 gi 14 zo E 9 Gxo yozo Gr yi zJ OE
21. P9 1 RB5 80 P10 1 RB5 64 P11 1 RB6 94 P9 2 RB6 78 P10 2 RB6 62 P11 2 RB7 92 P9 3 RB7 76 P10 3 RB7 60 P11 3 17 8 paun DGT 4 N 2071739991 TZ 3 LabVIEW D BEE owh 7 n TRI h ieh 7 Y cnurt Y kn AtA Eh ihh Y count 1 0035 N DUNTD 4000 7 H Y 01 95 S ple ABl 7 Y count 5 K N Y 2041139991295 countl 1 Soun D 4000 F N Y 01 2 E LabVIEW 3 AR 8 2 LabVIEW H 7 5 7 3 0 D RL PIC X 8 115
22. 0 24 Jj IR 0 0 ya R cos 24 R 51 zs 0 ya R sin Zz4 R cos Gz4 ya zy 6 29 6 0 0 06 T cos Sin 20 6 5100 cos 60 6 1 0 0 1 1 0 0 0 0 0 cos sind 58 0 cos 0 1 29 sin 0 1 29 58 sin cos 0 0 sin 0 1 29 cos 0 1 29 0 0 0 1 AO 0 0 1 0 0 0 0 0 sm 0 0 0 962 0 273 62 4 0 1 0 0 18cos 0 273 0 962 0 sm 0 cos 0 18sin 0 0 1 0 0 0 1 1 cO OC O a 8 11 6 H 4 LL 8 12 Gs ys zs Gx4y4z4 xsa R 5100 ya R cos 24 Jj IR OO F3 0 ya x4 R cosQ ya AR 30 24
23. 18sm 0 0 1 1 a b GE x 8 8 6 1 8 9 E 9 2 17 0 276 zi y1 z1 x2 y2 z2 xi 1 Y2 R 0 Z2 R 0 yi 0 26 y2 R cos E 22 R sinE zi 0 y2 R sin E 22 R x2 y2 z2 6 6 1 0 0 0 64 6 O cosE sing VI7 60 6 6 0 sinE cosE 0 6 1 0 0 0 1 1 0 0 0 Y 0 0 510 0 0 _ 0 0 962 0 273 62 4 0 1 0 01 18cos 0 0273 0 962 0 sm 0 cos 0 18sin 0 0 0 1 0 0 0 1 1 xX 8 9 6 0H 8 10
24. AtB B 68 13 LO 6 USB I O 6 1 O NI USB 6509 12bit 2 7 1 7 2 7 3 7 4 7 1 IO 2 7 5
25. Li L 458 172 2x58x17cos 3653 1972 050 B T 2x58x L P 58 17cos y3653 1972cos Q m 0 4 xy 21 58 17cos y3653 1972cos coss d cos y3653 1972cos 4 58 17 050 20 cos y3653 1972cos 58 17cos 20 y3653 1972cos 58 17 050 y3653 1972cos x 43653 41972cos0 ele rr y 4 3653 1972 050 ee z 60 43653 1972cos wi 0 1 a b 8 5 4 5 X 8 6 b 3 5 C 17 0 1 29 Ts 22 2 58 ir 60 2x 58x 17 60 cosC y7253 7234cos 1 29 D 2 458 L NIP 60 2 58 D cos 4 58 624cos 0 1 29 47253 7233 0 1 29 0 5 Z LEAR
26. ckBusStatusO 1 USB iffUCFGbits UTEYE 1 ll USBDriverServiceO CDCTxService0 if usb_device_state gt CONFIGURED STATE amp amp UCONbits SUSPND 0 if getsUSBUSART input_buffer 64 34 switch Gnput_buffer O 1 case 0 ltostring 4 count amp Messagell 0 ifmUSBUSARTTsTxTrfReady0 putsUSART Message1 putrsUSBUSART OK putsUSBUSART Message1 break case 9 break default break cur PORTA cur cur amp 0500000110 if cur saved 1 else count CHANGE cur saved count saved cur int CHANGE char cur char saved int count char 2 x PORTC amp 000001000 if x 0b00000000 1 PORTAbits RA1 1 count 0 35 else 1 y 7 saved amp 0b00000100 if y 0500000100 1 count HANTEl cur count else 1 2 cur amp 0b000000010 if z 0b000000010 1 count 1 if count 1 1 count 3999 else 1 count 1 if count 4000 1 count 0 return count int HANTEl char curjint count 1 char x x cur amp 000000010 if x 0b00000010 36 count 1 if count 4000 i count 0 else 1 count 1 if count 1 1 count 3999
27. xo yo zo ca 24 E cos sn sin cos 0 0 0 0 QV ge um Bom Bm N GM uox EE IUS Mi o X 8 8 a 8 8 p Im ES 5 x0 yo z0 2 gt gt 6 6 0 6 18 050 6 185100 xo yo zo L 0D ARI x R cos IRA 0 R sin yo xn 7 0 yi R 1 zi R 0 zo xi R sin yi 0 gi R cos Gr yi z 6 25 64 K L 6 6 R4 l 0 6 Rs Ry l 6 1 0 0 0 1 1 cos sin 0 0 0 1 0 0 18cos 5 0 0 cos 0
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