AN2350 datasheet(37/41 Pages) STMICROELECTRONICS

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Control algorithm

AN2350

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Now the shoulder is controlled in its home position, the same procedure is executed for the

elbow, using the Capture unit CC22. The control of the shoulder ensures that during the

home procedure for the elbow there's no movement of the shoulder.

The scheme below shows the homing procedure.

Figure 30.

The homing procedure

Read Absolute Encoder

of the shoulder and

enable interrupt CC16

while(!home_position_sh)

{

Move shoulder with fixed PWM

}

Stop the shoulder

Reset incremental encoder

of the shoulder (T2)

Enable interrupt for control

algorithm, and disable

interrupt CC16

sh_pulses_desired

Read Absolute Encoder

of the elbow and enable

interrupt CC22

while(!home_position_elb)

{

Move elbow with fixed PWM

}

Stop the elbow

Reset incremental encoder

of the elbow (T4)

Disable interrupt CC22

elb_pulses_desired

Read Absolute Encoder

for the shoulder

This is the right

transition?

ISR for the

shoulder

home_position_sh=true;

Exit

Control

Algorithm

Read Absolute Encoder

for the elbow

ISR for the

elbow

This is the right

transition?

home_position_elb=true;

Exit

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