{\rtf1\animaticsfile\ansi\ansicpg1252\deff0\deftab720{\fonttbl{\f0\fswiss MS Sans Serif;}{\f1\froman\fcharset2 Symbol;}{\f2\fmodern\fprq1 Courier New;}} {\colortbl\red0\green0\blue0;\red255\green255\blue255;\red0\green255\blue255;\red0\green0\blue255;\red255\green0\blue128;\red0\green128\blue128;}{\info{\subject }{\author }{\keywords }{\doccomm }} \deflang1033\pard\tx0\tx480\tx960\tx1440\tx1920\tx2400\tx2880\tx3360\tx3840\tx4320\tx4800\tx5280\tx5760\tx6240\tx6720\tx7200\tx7680\tx8160\tx8640\tx9120\tx9600\tx10080\tx10560\tx11040\tx11520\tx12000\tx12480\tx12960\tx13440\tx13920\tx14400\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf2 'using the POT to control position\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf2 '\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf2 '\plain\f2\fs16\cf3 \par \par \plain\f2\fs16\cf1 d=0\plain\f2\fs16\cf3 \tab \tab \tab \tab \plain\f2\fs16\cf2 'initialize variable d for storing analog input D\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf1 dd=0\plain\f2\fs16\cf3 \tab \tab \tab \tab \plain\f2\fs16\cf2 'initialize variable dd for store the diff between the new and the old reading\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf1 ddd=0\plain\f2\fs16\cf3 \tab \tab \tab \plain\f2\fs16\cf2 'initialize variable ddd for storing of old analog reading\plain\f2\fs16\cf3 \par \par \par \plain\f2\fs16\cf4 UDI\plain\f2\fs16\cf3 \tab \tab \tab \tab \plain\f2\fs16\cf2 'initialize port A as input for reading analog signal\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf4 MP\plain\f2\fs16\cf3 \tab \tab \tab \tab \plain\f2\fs16\cf2 'set motor to run in mode position\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf4 A\plain\f2\fs16\cf1 =3000\plain\f2\fs16\cf3 \tab \tab \tab \plain\f2\fs16\cf2 'set acceleration\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf4 V\plain\f2\fs16\cf1 =32212*90\plain\f2\fs16\cf3 \tab \tab \plain\f2\fs16\cf2 'set velocity A=32212 is 1 rev/sec\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf1 p=100000\plain\f2\fs16\cf3 \tab \tab \tab \plain\f2\fs16\cf2 'set distance range 0 to 100000 cnt\plain\f2\fs16\cf3 \par \plain\f2\fs16\cf4 WHILE\plain\f2\fs16\cf3 \plain\f2\fs16\cf1 1\plain\f2\fs16\cf3 \tab \tab \tab \plain\f2\fs16\cf2 'inifinite while loop\plain\f2\fs16\cf3 \par \tab \plain\f2\fs16\cf1 d=\plain\f2\fs16\cf4 UDA\plain\f2\fs16\cf3 \tab \tab \plain\f2\fs16\cf2 'read ananlog input D and store value into variable d\plain\f2\fs16\cf3 \par \tab \plain\f2\fs16\cf1 dd=d-ddd\plain\f2\fs16\cf3 \tab \tab \plain\f2\fs16\cf2 'compare diff between new reading and old reading\plain\f2\fs16\cf3 \par \tab \plain\f2\fs16\cf4 IF\plain\f2\fs16\cf3 \plain\f2\fs16\cf1 dd<0\plain\f2\fs16\cf3 \tab \tab \plain\f2\fs16\cf2 'convert dd to abs value\plain\f2\fs16\cf3 \par \tab \tab \plain\f2\fs16\cf1 dd=-dd\plain\f2\fs16\cf3 \par \tab \plain\f2\fs16\cf4 ENDIF\plain\f2\fs16\cf3 \par \tab \plain\f2\fs16\cf4 IF\plain\f2\fs16\cf3 \plain\f2\fs16\cf1 dd>7\plain\f2\fs16\cf3 \tab \tab \tab \plain\f2\fs16\cf2 'deadband for analog signal for being unstable\plain\f2\fs16\cf3 \par \tab \tab \plain\f2\fs16\cf1 ddd=d\plain\f2\fs16\cf3 \tab \tab \plain\f2\fs16\cf2 'store used analog into ddd\plain\f2\fs16\cf3 \par \tab \tab \plain\f2\fs16\cf1 dd=d*p\plain\f2\fs16\cf3 \tab \tab \plain\f2\fs16\cf2 'doing math\plain\f2\fs16\cf3 \par \tab \tab \plain\f2\fs16\cf4 P\plain\f2\fs16\cf1 =dd/1023\plain\f2\fs16\cf3 \par \tab \tab \plain\f2\fs16\cf4 G\plain\f2\fs16\cf3 \tab \tab \tab \plain\f2\fs16\cf2 'star motion\plain\f2\fs16\cf3 \par \tab \plain\f2\fs16\cf4 ENDIF\plain\f2\fs16\cf5 \tab \plain\f2\fs16\cf3 \par \plain\f2\fs16\cf4 LOOP\plain\f2\fs16\cf5 \tab \tab \tab \tab \tab \plain\f2\fs16\cf2 'end of loop\plain\f2\fs16\cf3 \par \par \par \plain\f2\fs16\cf4 END\plain\f2\fs16\cf3 \tab \tab \tab \tab \tab \plain\f2\fs16\cf2 'mark END of program\plain\f2\fs16\cf3 \par }