1. Determine time interval for each state Tst (motor phase switching delay) required to implement the specified motor speed 1 in RPM. Show your work.
Speed 1: 60 RPM
To determine the time interval for each state Tst required to implement a motor speed of 60 RPM, we need to first calculate the time period Tp for one revolution at that speed:
Tp = 60 seconds / 60 RPM
Tp = 1 second
Since there are two states (on and off) for each revolution of the motor, the motor phase switching delay Tst for each state can be calculated as:
Tst = Tp / 2
Tst = 1 second / 2
Tst = 0.5 seconds
Therefore, the time interval for each state Tst required to implement a motor speed of 60 RPM is 0.5 seconds.
2. Connect TB6612 board to the microcontroller kit. Connect channel 3 (5V) of the laboratory power supply to VM+ terminal of the TB6612 board. Write a program to control the stepper motor using switch connected to GPIO pin PA0. While the switch is pressed the motor should continuously rotate with the specified speed 1 (same as in question 1) and should stop when the switch is released.
Speed 2: 12 RPM
To control the stepper motor using the TB6612 board connected to a microcontroller kit and the speed switch connected to GPIO pin PA0, you can use the following steps:
1. Connect channel 3 (5V) of the laboratory power supply to the VM+ terminal of the TB6612 board.
2. Connect the stepper motor to the TB6612 board and the necessary GPIO pins on the microcontroller for control.
3. Write a program in your microcontroller's programming language (e.g., C or Python) to control the motor based on the switch input.
Here is an example C code snippet for controlling the stepper motor based on the switch input:
```c
#include <stdio.h>
#include <wiringPi.h>
#define SPEED_1 60 // Speed in RPM for switch pressed
#define SPEED_2 12 // Speed in RPM for switch released
#define SWITCH_PIN 0 // GPIO pin for switch input
#define MOTOR_PIN_1 1 // GPIO pin for controlling the stepper motor
int main() {
wiringPiSetup(); // Initialize WiringPi library
pinMode(SWITCH_PIN, INPUT); // Set switch pin as input
pinMode(MOTOR_PIN_1, OUTPUT); // Set motor control pin as output
while(1) {
if(digitalRead(SWITCH_PIN) == HIGH) { // If switch is pressed
// Rotate the motor at Speed 1 (60 RPM)
digitalWrite(MOTOR_PIN_1, HIGH);
// Implement code for motor rotation at 60 RPM
} else {
// Stop the motor and wait for switch release
digitalWrite(MOTOR_PIN_1, LOW);
delay(100); // Delay for switch debounce
}
}
return 0;
}
```
This code snippet sets up the switch pin and motor control pin as input and output, respectively, and continuously checks the state of the switch. When the switch is pressed, the motor will rotate at Speed 1 (60 RPM), and when the switch is released, the motor will stop until the switch is pressed again.
Please note that you may need to modify the code based on the specific microcontroller kit and programming language you are using. Additionally, you need to implement the actual motor control logic for rotating the motor at the specified speeds.
2. Connect TB6612 board to the microcontroller kit. Connect channel 3 (5V) of the laboratory power supply to VM+ terminal of the TB6612 board. Write a program to control the stepper motor using switch connected to GPIO pin PA0. While the switch is pressed the motor should continuously rotate with the specified speed 1 (same as in question 1) and should stop when the switch is released.
Speed 2: 12 RPM
STM32 CubeIDE
To control the stepper motor using the TB6612 board connected to an STM32 microcontroller kit and the speed switch connected to GPIO pin PA0, you can use the STM32 CubeIDE development platform to write the necessary firmware code.
Here is a basic outline of the steps you can follow to achieve this:
1. Connect your TB6612 board to the appropriate pins on the STM32 microcontroller kit according to the pinout of the TB6612 board and the STM32 microcontroller. Connect channel 3 (5V) of the power supply to the VM+ terminal of the TB6612 board.
2. Set up your STM32 project in STM32 CubeIDE and configure the GPIO pins for the switch input (PA0) and motor control output pins.
3. Write the firmware code in C language to continuously check the state of the switch and control the motor rotation based on the switch input.
Below is a basic template for the firmware code in STM32 CubeIDE to control the stepper motor based on the switch input:
```c
#include "stm32f4xx_hal.h"
#define SPEED_1 60 // Speed in RPM for switch pressed
#define SPEED_2 12 // Speed in RPM for switch released
#define SWITCH_PIN GPIO_PIN_0
#define MOTOR_PIN GPIO_PIN_1
int main(void) {
HAL_Init();
// Initialize the GPIO peripheral
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitTypeDef gpio_init;
gpio_init.Pin = SWITCH_PIN;
gpio_init.Mode = GPIO_MODE_INPUT;
gpio_init.Pull = GPIO_PULLUP;
gpio_init.Speed = GPIO_SPEED_FAST;
HAL_GPIO_Init(GPIOA, &gpio_init);
gpio_init.Pin = MOTOR_PIN;
gpio_init.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(GPIOA, &gpio_init);
while (1) {
if (HAL_GPIO_ReadPin(GPIOA, SWITCH_PIN) == GPIO_PIN_SET) {
// Rotate the motor at Speed 1 (60 RPM)
// Implement code for motor rotation at 60 RPM
HAL_GPIO_WritePin(GPIOA, MOTOR_PIN, GPIO_PIN_SET);
} else {
// Stop the motor
HAL_GPIO_WritePin(GPIOA, MOTOR_PIN, GPIO_PIN_RESET);
}
}
}
```
This code sets up GPIO pin PA0 as an input for the switch and GPIO pin PA1 as an output for controlling the motor. It continuously checks the state of the switch and rotates the motor at Speed 1 when the switch is pressed, and stops the motor when released.
Please note that this is a basic template and you may need to modify and expand the code to include proper motor control logic, speed control, and any other necessary functionalities based on the specific requirements of your project. Also, make sure to configure the Clock settings, GPIO interrupt handling, and any other necessary configurations in your STM32 CubeIDE project before compiling and flashing the code onto your STM32 microcontroller kit.