Hydrover - New pages [en]

HYD-MB-REV-1.1

2017-09-27T13:57:21Z

Andrea: /* Hardware */

__NOTOC__
= Description =
[[File:MB.png|200px]]

The [[HYD-MB-REV-1.1]] ( aka MB Mobile Board ) is an advanced slave board driven by [[H6105-D]] for controlling on/off and proportional valves.

= Software =

* Real Time O.S.
* On-board advanced functions

== On-board advanced functions ==

* Automatic input change detection
* Quadrature phase AB channels decoding for incremental encoder or optical scale
* Single or dual Axis control
* Axis control by speed
* Axis control by position
* Parallel move Axis control
* Advanced Current Sequences (mixed linear, exponential and S curvers)

= Hardware =

* Power 12V-24V (Max 36V)
* CPU ARM Cortex M3 100MHz
* Interfaces USB, CAN, RS232
* Digital inputs 8
* Analog inputs 4 (0-5V, 0-10V, 0-20mA software controlled)
* Digita inputs / outputs 8 (Max 5A)
* PWM Outputs 8 (Max 3A)
* Power Outputs 3 (Max 20A)
* On-board CAN termination resistors (software controlled)

= Pinout =
[[File:HYD-MB_CONN.png|320px]]

H6105-D and H6103 basic input/output

2017-07-06T12:09:31Z

Andrea:

= Description =

This programming example make use of events to monitor the switchs S1 and S2 and drive the corresponding lamps L1 and L2,
refer to the [[H6105-D and H6103 basic input/output wiring]] example.

= Source Code =

This is the source code in PAWN language of the '''H6105-D and H6103 basic input/output''' example:

<syntaxhighlight lang="pawn">

/***************************************************************
*
* Basic Input Output - example
*
* program.p
*
***************************************************************/

// include the library for H6105-D
//
#include <hydlib_cp>

// define inputs
//
#define SWITCH_S1 MAKE_DIN_BOARD_CP(0)
#define SWITCH_S2 MAKE_DIN_BOARD_IO(0,0)

// define outputs
//
#define LAMP_L1 MAKE_OUT_BOARD_IO(0,0)
#define LAMP_L2 MAKE_OUT_BOARD_IO(0,1)

// main function
//
main()
{
// clear display
//
dClear();

// select system font
//
dFont( system5x7 );

// place cursor
//
dCursor( 0, 0 );

// print on display
//
dPrintf( "Basic IO" );

// set initial state of SWITCH_S1 and LAMP_L1
//
dCursor( 0, 10 );
if( DinRead( SWITCH_S1 ) )
{
dPrintf( "SWITCH_S1 ON " );
OutSet( LAMP_L1 );
}
else
{
dPrintf( "SWITCH_S1 OFF" );
OutClear( LAMP_L1 );
}

// set initial state of SWITCH_S2 and LAMP_L2
//
dCursor( 0, 20 );
if( DinRead( SWITCH_S2 ) )
{
dPrintf( "SWITCH_S2 ON " );
OutSet( LAMP_L2 );
}
else
{
dPrintf( "SWITCH_S2 OFF" );
OutClear( LAMP_L2 );
}

// declare an event container
//
new BASE_EVENT(ev);

// enable system events
//
SysEvEnable();

// main loop
//
for( ;; )
{
// get new event from queue
//
EventGet( ev );

// process some events
//
switch( ev.opcode )
{
// <script stop> command from console
//
case SevEmergExit:
{
// exit main loop
//
break;
}

// digital input activate
//
case SevDinActive:
{
// SWITCH_S1
//
if( ev.p0 == SWITCH_S1 )
{
dCursor( 0, 10 );
dPrintf( "SWITCH_S1 ON " );
OutSet( LAMP_L1 );
}

// SWITCH_S2
//
else if( ev.p0 == SWITCH_S2 )
{
dCursor( 0, 20 );
dPrintf( "SWITCH_S2 ON " );
OutSet( LAMP_L2 );
}
}

// digital input deactivate
//
case SevDinInactive:
{
// SWITCH_S1
//
if( ev.p0 == SWITCH_S1 )
{
dCursor( 0, 10 );
dPrintf( "SWITCH_S1 OFF" );
OutClear( LAMP_L1 );
}

// SWITCH_S2
//
else if( ev.p0 == SWITCH_S2 )
{
dCursor( 0, 20 );
dPrintf( "SWITCH_S2 OFF" );
OutClear( LAMP_L2 );
}
}
}
}

// program end
}

</syntaxhighlight>

Finite State Machine

2017-07-06T09:53:05Z

Andrea:

= Introduction =

A [https://en.wikipedia.org/wiki/Finite-state_machine Finite-state machine] is an [https://en.wikipedia.org/wiki/Abstract_machine abstract machine] that can be in exactly one of a finite number of states at any given time. The FSM can change from one state to another in response to some external inputs; the change from one state to another is called a ''transition''. An FSM is defined by a list of its states, its initial state, and the conditions for each transition.

= Event-driven FSM =

An '''Event-driven FSM''' is a kind of FSM where transistions from one state to another are triggered by events ( see [[The Queue of Events]] )

= Example =

This is one example of an '''Event-driven FSM'''

* [[H6105-D Rotary Encoder and Menu]]