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, we first need to calculate the time it takes for one revolution at the specified speed.
1 revolution = 60 RPM
To convert this to seconds, we divide by 60:
1 revolution = 60 RPM / 60 = 1 second
Since we want to find the time interval for each state (Tst), we divide the time for one revolution by the number of states. Assuming there are 4 states in the motor phase switching sequence, we divide 1 second by 4:
Tst = 1 second / 4 = 0.25 seconds
Therefore, the time interval for each state (Tst) required to implement the specified motor speed 1 in RPM is 0.25 seconds.
are you sure?
I apologize for the mistake in my previous response. Thank you for catching that. Let's recalculate the time interval for each state correctly.
To determine the time interval for each state, we can use the formula:
Time interval (Tst) = 60 / (Speed in RPM * number of states)
Given:
Speed 1 = 60 RPM
Number of states = 4
Plugging in these values:
Tst = 60 / (60 * 4)
Tst = 60 / 240
Tst = 0.25 seconds
Therefore, the correct time interval for each state (Tst) required to implement the specified motor speed 1 in RPM is indeed 0.25 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 a switch connected to GPIO pin PA0 and achieve a continuous rotation at speed 2 (12 RPM), you would need to follow these steps:
1. Connect the TB6612 board to the microcontroller kit:
- Connect the VM+ terminal of the TB6612 board to channel 3 (5V) of the laboratory power supply.
- Connect the necessary power and ground connections between the microcontroller kit and the TB6612 board.
- Connect the necessary control lines (such as IN1, IN2, IN3, IN4) from the microcontroller GPIO pins to the TB6612 board inputs.
2. Write a program in the programming language supported by your microcontroller to control the stepper motor. Here's a sample code in C/C++ assuming an Arduino platform:
```
#include <Stepper.h>
// Define the number of steps per revolution of the stepper motor
const int STEPS_PER_REV = 200;
// Define the GPIO pin for the switch
const int SWITCH_PIN = A0;
// Define the speed in RPM (12 RPM for speed 2)
const int SPEED = 12;
// Create a stepper motor object (parameters: number of steps, IN1 pin, IN3 pin, IN2 pin, IN4 pin)
Stepper stepper(STEPS_PER_REV, 2, 3, 4, 5);
void setup() {
// Set the switch pin as input
pinMode(SWITCH_PIN, INPUT);
}
void loop() {
// Check if the switch is pressed
if (digitalRead(SWITCH_PIN) == HIGH) {
// Set the speed of the stepper motor (RPM is converted to delay in milliseconds between steps)
stepper.setSpeed(60 * 1000 / (STEPS_PER_REV * SPEED));
// Rotate the stepper motor continuously clockwise
stepper.step(STEPS_PER_REV);
} else {
// Stop the stepper motor if the switch is released
stepper.stop();
}
}
```
Make sure to adjust the GPIO pin numbers and other settings to match your specific setup. Upload the code to your microcontroller and test it with the connected switch to observe the desired behavior: continuous rotation at speed 2 (12 RPM) while the switch is pressed and stopping the motor when the switch is released.
3. Modify your program so that while the switch connected to PA0 is pressed the motor
continuously rotates with the specified speed 1 (same as in question 1) and when the switch is
released the motor rotates the opposite direction with the specified speed 2.
To modify the program to rotate the stepper motor clockwise with specified speed 1 (same as in question 1) while the switch connected to PA0 is pressed, and rotate the motor in the opposite direction (counterclockwise) with specified speed 2 (12 RPM) when the switch is released, you can make the following changes to the previous code:
```cpp
#include <Stepper.h>
// Define the number of steps per revolution of the stepper motor
const int STEPS_PER_REV = 200;
// Define the GPIO pin for the switch
const int SWITCH_PIN = A0;
// Define the speeds in RPM
const int SPEED1 = 60;
const int SPEED2 = 12;
// Create a stepper motor object (parameters: number of steps, IN1 pin, IN3 pin, IN2 pin, IN4 pin)
Stepper stepper(STEPS_PER_REV, 2, 3, 4, 5);
// Variable to keep track of the direction of rotation
int rotationDirection = 1; // 1 for clockwise, -1 for counterclockwise
void setup() {
// Set the switch pin as input
pinMode(SWITCH_PIN, INPUT);
// Set the initial speed and direction of the stepper motor
stepper.setSpeed(60 * 1000 / (STEPS_PER_REV * SPEED1)); // Speed 1 is 60 RPM
stepper.step(STEPS_PER_REV * rotationDirection); // Rotate the stepper motor one full revolution clockwise initially
}
void loop() {
// Check if the switch is pressed
if (digitalRead(SWITCH_PIN) == HIGH) {
// Set the speed and direction for clockwise rotation (Speed 1)
stepper.setSpeed(60 * 1000 / (STEPS_PER_REV * SPEED1));
rotationDirection = 1;
} else {
// Set the speed and direction for counterclockwise rotation (Speed 2)
stepper.setSpeed(60 * 1000 / (STEPS_PER_REV * SPEED2));
rotationDirection = -1;
}
// Rotate the stepper motor one full revolution in the specified direction
stepper.step(STEPS_PER_REV * rotationDirection);
}
```
With these modifications, the stepper motor will rotate clockwise with the specified speed 1 (60 RPM) while the switch connected to PA0 is pressed, and rotate counterclockwise with the specified speed 2 (12 RPM) when the switch is released.
Note: Make sure to adjust the GPIO pin numbers and other settings to match your specific setup.