Mech - User contributions [en]

Granular Flow Rotating Sphere

2008-03-20T22:58:08Z

KristiBond:

[[ME 333 final projects]]

==Team Members==
*Brian Kephart - Electrical Engineering Class of 2009
*Jonathan Shih - Mechanical Engineering Class of 2009
*Kristi Bond - Mechanical Engineering Class of 2008

==Overview==

A clear sphere is filled with grains of different sizes. Our apparatus rotates this ball about two different axis based on a series of user inputs. The user inputs the specific values for things such as angle and rotational speed into Matlab. Our device takes these inputs and processes them using a series of master and slave PICs to appropriately control the motors. The motors then turn for the input duration at the desired speed causing the ball to spin correctly due to the frictional connection between both motors and the sphere or lazy susan, respectively.

This apparatus will be used for the study of granular flow and the mixing of particles within the sphere. It was important to leave the ball as visible as possible to allow for pictures to be taken of the grains within from many angles. With this apparatus we hope to aide the study of granular flow theory and allow the researches to use the device for many different applications.

==Mechanical Set-up==

====Main Housing====

The main housing, or case, for our design is composed of the following pieces.

*One 13.5” x 12” x ¾” plywood rectangle
*One 13.5” x 12” x ¾” plywood rectangle with a 3.5” diameter circle removed from the center
*Two 12” x 2.5”x ¾” plywood rectangles

The two larger rectangles form the top and bottom of the set-up with the two smaller rectangles placed vertically between to form a box with two open ends on the front and back face.

====Ball Support====

Three ball casters are placed on vertical mounts around the center circle of the top piece of the housing at equal angles. These casters prevent the ball from moving in any horizontal direction so it is only free to rotate. One of these casters is adjustable to allow the user to make sure the ball is correctly supported above the drive wheel. The force of gravity is strong enough to prevent the ball from moving up and out of the housing and also ensures a good connection with the drive wheel that is placed directly under the center of the sphere.

====Main Drive Wheel====

The main drive wheel is centered under the rotating sphere. The wheel is mounted onto a ¼” aluminum shaft which is connected to the Pittman motor with a flexible coupling and is also supported by a sleeve bearing on the other side of the wheel.

====Lazy Susan====

The main drive wheel with its corresponding motor and other components are all mounted on top of a lazy susan that is centered on the bottom piece of the housing and secured with screws. This lazy susan allows rotational motion but prevents movement in any other direction allowing the wheel to turn but always have the same center of contact with the sphere above. It is important to ensure that the drive wheel has a good connection with the sphere above because the frictional force between the wheel and the sphere must be as large as possible so that as the wheel spins the ball spins at the same rate.

====Position Control Motor====

A second motor is used in our design to turn the lazy susan. The motor is mounted vertically through the top plate. Another, smaller, drive wheel is mounted directly to the motor shaft and then aligned with only the top, free half of the lazy susan. A second, idler wheel is mounted on the bottom plate, so the drive wheel is sandwiched between this wheel and the lazy susan. This ensures that the drive wheel is always in contact with the lazy susan because the idler wheel exerts only a normal force. Again, this is to ensure there is no slip between the lazy susan and the drive wheel so it is automatically controlled more easily.

====Complete Parts List====

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>Pittman GM8224 motor </td><td>---</td><td>2</td>
<tr><td>Helical Beam Set-Screw Shaft Coupling</td><td> 9861T508 </td><td>1</td>
<tr><td>Mounted Sleeve Bearing</td><td>5912K21 </td><td>1</td>
<tr><td>Flange Mount Ball Caster</td><td>5674K77 </td><td>3</td>
<tr><td>Lazy Susan</td><td>1443T2</td><td>1</td>
<tr><td>Drive Wheel</td><td>60885K23 </td><td>1</td>
<tr><td>Small Drive Wheel</td><td>2471K12 </td><td>1</td>
<tr><td>Idler Wheel</td><td>60885K79 </td><td>1</td>
<tr><td>1/4” Aluminum Rod</td><td>---</td><td>---</td>
<tr><td>Aluminum Sheet Metal</td><td>---</td><td>---</td>
<tr><td>Plywood</td><td>---</td><td>---</td>
</table>

==Circuitry==

===Summary===
Our project was unique in that we relied on the use of three different PICs to precisely coordinate the motion of our ball. The main reason for this was because the 18F4520 chip only has enough encoder inputs for one Pittman motor.

===Component List===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>PIC18f4520 Prototyping Board</td><td>---</td><td>1</td>
<tr><td>Microchip 8-bit PIC Microcontroller</td><td>PIC18F4520</td><td>3</td>
<tr><td>Pittman Motor with Encoder</td><td>GM8224</td><td>3</td>
<tr><td>Hex Inverter Chip</td><td>SN74HC04</td><td>1</td>
<tr><td>Counter Chip</td><td>LS7083</td><td>2</td>
<tr><td>H-Bridge Chip</td><td>L293</td><td>1</td>
<tr><td>Diodes</td><td>1N4001</td><td>8</td>
<tr><td>100mF Capacitor</td><td>---</td><td>---</td>
<tr><td>1K Resistor</td><td>---</td><td>---</td>
<tr><td>Hall Effect Sensor</td><td>A3240LUA-T</td><td>1</td>
<tr><td>Big Cat Super Strong Magnet</td><td>PM20134</td><td>1</td>
</table>

===Set Up===
The electrical design for our project was pretty basic. All of our components (including the Pittman motors) were powered with 5V DC.

<b>PICs</b>

The three PICs communicated via I2C, which enabled us to control the two motors by telling the master PIC what to do (more information can be found [[I2C communication between PICs|here]]). We designated the PIC on the 18F4520 Prototyping Board as the "Master" and the other two PICs as the "Slaves." It is important to connect the clock from the prototyping board to the two Slave PICs, but the two main lines of communication are shared on pin 18 (RC3) on each chip, and pin 23 (RC4).

<b>H-Bridge</b>

Each slave PIC sends an individual pulse to one of the two H-bridges (the L298 has two). The pulse width determines the direction and speed of each motor. At 50% duty cycle, the motor is at rest, while at 0 and 100% duty cycles the motor runs at maximum speed but in opposite directions. Pin 16 from the first slave PIC needs to connect to pin 10 on the L298, while other other should connect to pin 5.

<b>Hex Inverter</b>

Now pins 5 and 10 from the H-bridge needs to go into pins 1 and 13 on the hex inverter chip. The outputs of these two need to go back the the H-bridge as an inverted signal for pulse width modulation (pin 1 to L298's pin 12, and pin 14 to L298's pin 7).

<b>Counter</b>

The last main component that needs to be implemented in the counter chip. This enables us to take fewer counts from the high encoder on the Pittman motors to control the movement of the motor. Pins 4 and 5 are used to connect directly to the blue and yellow lines on each Pittman encoder. Pins 1, 3, and 6 should all be hooked to ground, while pin 2 should be +5V. Pins 7 and 8 should connect to pins 15 and 6, respectively on the slave PIC that is correspondent to this counter chip.

===Schematic===

===Pictures===

==PIC Code==

==Matlab Code==

Granular Flow Rotating Sphere

2008-03-20T22:57:21Z

KristiBond: /* Overview */

Granular Flow Rotating Sphere

2008-03-20T22:56:17Z

KristiBond: /* Overview */

[[ME 333 final projects]]

==Team Members==
*Brian Kephart - Electrical Engineering Class of 2009
*Jonathan Shih - Mechanical Engineering Class of 2009
*Kristi Bond - Mechanical Engineering Class of 2008

==Overview==

A clear sphere is filled with grains of different sizes. Our apparatus rotates this ball about two different axis based on a series of user inputs. The user inputs the specific values for things such as angle and rotational speed into Matlab. Our device takes these inputs and processes them using a series of master and slave PICs to appropriately control the motors. The motors then turn for the correct duration at the desired speed causing the ball to spin correctly due to the frictional connection between both motors and the sphere or lazy susan, respectively.

This apparatus will be used for the study of granular flow and the mixing of particles within the sphere. It was important to leave the ball as visible as possible to allow for pictures to be taken of the grains within from many angles. With this apparatus we hope to aide the study of granular flow theory and allow the researches to use the device for many different applications.

==Mechanical Set-up==

====Main Housing====

The main housing, or case, for our design is composed of the following pieces.

*One 13.5” x 12” x ¾” plywood rectangle
*One 13.5” x 12” x ¾” plywood rectangle with a 3.5” diameter circle removed from the center
*Two 12” x 2.5”x ¾” plywood rectangles

The two larger rectangles form the top and bottom of the set-up with the two smaller rectangles placed vertically between to form a box with two open ends on the front and back face.

====Ball Support====

Three ball casters are placed on vertical mounts around the center circle of the top piece of the housing at equal angles. These casters prevent the ball from moving in any horizontal direction so it is only free to rotate. One of these casters is adjustable to allow the user to make sure the ball is correctly supported above the drive wheel. The force of gravity is strong enough to prevent the ball from moving up and out of the housing and also ensures a good connection with the drive wheel that is placed directly under the center of the sphere.

====Main Drive Wheel====

The main drive wheel is centered under the rotating sphere. The wheel is mounted onto a ¼” aluminum shaft which is connected to the Pittman motor with a flexible coupling and is also supported by a sleeve bearing on the other side of the wheel.

====Lazy Susan====

The main drive wheel with its corresponding motor and other components are all mounted on top of a lazy susan that is centered on the bottom piece of the housing and secured with screws. This lazy susan allows rotational motion but prevents movement in any other direction allowing the wheel to turn but always have the same center of contact with the sphere above. It is important to ensure that the drive wheel has a good connection with the sphere above because the frictional force between the wheel and the sphere must be as large as possible so that as the wheel spins the ball spins at the same rate.

====Position Control Motor====

A second motor is used in our design to turn the lazy susan. The motor is mounted vertically through the top plate. Another, smaller, drive wheel is mounted directly to the motor shaft and then aligned with only the top, free half of the lazy susan. A second, idler wheel is mounted on the bottom plate, so the drive wheel is sandwiched between this wheel and the lazy susan. This ensures that the drive wheel is always in contact with the lazy susan because the idler wheel exerts only a normal force. Again, this is to ensure there is no slip between the lazy susan and the drive wheel so it is automatically controlled more easily.

====Complete Parts List====

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>Pittman GM8224 motor </td><td>---</td><td>2</td>
<tr><td>Helical Beam Set-Screw Shaft Coupling</td><td> 9861T508 </td><td>1</td>
<tr><td>Mounted Sleeve Bearing</td><td>5912K21 </td><td>1</td>
<tr><td>Flange Mount Ball Caster</td><td>5674K77 </td><td>3</td>
<tr><td>Lazy Susan</td><td>1443T2</td><td>1</td>
<tr><td>Drive Wheel</td><td>60885K23 </td><td>1</td>
<tr><td>Small Drive Wheel</td><td>2471K12 </td><td>1</td>
<tr><td>Idler Wheel</td><td>60885K79 </td><td>1</td>
<tr><td>1/4” Aluminum Rod</td><td>---</td><td>---</td>
<tr><td>Aluminum Sheet Metal</td><td>---</td><td>---</td>
<tr><td>Plywood</td><td>---</td><td>---</td>
</table>

==Circuitry==

===Summary===
Our project was unique in that we relied on the use of three different PICs to precisely coordinate the motion of our ball. The main reason for this was because the 18F4520 chip only has enough encoder inputs for one Pittman motor.

===Component List===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>PIC18f4520 Prototyping Board</td><td>---</td><td>1</td>
<tr><td>Microchip 8-bit PIC Microcontroller</td><td>PIC18F4520</td><td>3</td>
<tr><td>Pittman Motor with Encoder</td><td>GM8224</td><td>3</td>
<tr><td>Hex Inverter Chip</td><td>SN74HC04</td><td>1</td>
<tr><td>Counter Chip</td><td>LS7083</td><td>2</td>
<tr><td>H-Bridge Chip</td><td>L293</td><td>1</td>
<tr><td>Diodes</td><td>1N4001</td><td>8</td>
<tr><td>100mF Capacitor</td><td>---</td><td>---</td>
<tr><td>1K Resistor</td><td>---</td><td>---</td>
<tr><td>Hall Effect Sensor</td><td>A3240LUA-T</td><td>1</td>
<tr><td>Big Cat Super Strong Magnet</td><td>PM20134</td><td>1</td>
</table>

===Set Up===
The electrical design for our project was pretty basic. All of our components (including the Pittman motors) were powered with 5V DC.

<b>PICs</b>

The three PICs communicated via I2C, which enabled us to control the two motors by telling the master PIC what to do (more information can be found [[I2C communication between PICs|here]]). We designated the PIC on the 18F4520 Prototyping Board as the "Master" and the other two PICs as the "Slaves." It is important to connect the clock from the prototyping board to the two Slave PICs, but the two main lines of communication are shared on pin 18 (RC3) on each chip, and pin 23 (RC4).

<b>H-Bridge</b>

Each slave PIC sends an individual pulse to one of the two H-bridges (the L298 has two). The pulse width determines the direction and speed of each motor. At 50% duty cycle, the motor is at rest, while at 0 and 100% duty cycles the motor runs at maximum speed but in opposite directions. Pin 16 from the first slave PIC needs to connect to pin 10 on the L298, while other other should connect to pin 5.

<b>Hex Inverter</b>

Now pins 5 and 10 from the H-bridge needs to go into pins 1 and 13 on the hex inverter chip. The outputs of these two need to go back the the H-bridge as an inverted signal for pulse width modulation (pin 1 to L298's pin 12, and pin 14 to L298's pin 7).

<b>Counter</b>

The last main component that needs to be implemented in the counter chip. This enables us to take fewer counts from the high encoder on the Pittman motors to control the movement of the motor. Pins 4 and 5 are used to connect directly to the blue and yellow lines on each Pittman encoder. Pins 1, 3, and 6 should all be hooked to ground, while pin 2 should be +5V. Pins 7 and 8 should connect to pins 15 and 6, respectively on the slave PIC that is correspondent to this counter chip.

===Schematic===

===Pictures===

==PIC Code==

==Matlab Code==

==Results==

Granular Flow Rotating Sphere

2008-03-20T22:44:48Z

KristiBond: /* Complete Parts List */

[[ME 333 final projects]]

==Team Members==
*Brian Kephart - Electrical Engineering Class of 2009
*Jonathan Shih - Mechanical Engineering Class of 2009
*Kristi Bond - Mechanical Engineering Class of 2008

==Overview==

==Mechanical Set-up==

====Main Housing====

The main housing, or case, for our design is composed of the following pieces.

*One 13.5” x 12” x ¾” plywood rectangle
*One 13.5” x 12” x ¾” plywood rectangle with a 3.5” diameter circle removed from the center
*Two 12” x 2.5”x ¾” plywood rectangles

The two larger rectangles form the top and bottom of the set-up with the two smaller rectangles placed vertically between to form a box with two open ends on the front and back face.

====Ball Support====

Three ball casters are placed on vertical mounts around the center circle of the top piece of the housing at equal angles. These casters prevent the ball from moving in any horizontal direction so it is only free to rotate. One of these casters is adjustable to allow the user to make sure the ball is correctly supported above the drive wheel. The force of gravity is strong enough to prevent the ball from moving up and out of the housing and also ensures a good connection with the drive wheel that is placed directly under the center of the sphere.

====Main Drive Wheel====

The main drive wheel is centered under the rotating sphere. The wheel is mounted onto a ¼” aluminum shaft which is connected to the Pittman motor with a flexible coupling and is also supported by a sleeve bearing on the other side of the wheel.

====Lazy Susan====

The main drive wheel with its corresponding motor and other components are all mounted on top of a lazy susan that is centered on the bottom piece of the housing and secured with screws. This lazy susan allows rotational motion but prevents movement in any other direction allowing the wheel to turn but always have the same center of contact with the sphere above. It is important to ensure that the drive wheel has a good connection with the sphere above because the frictional force between the wheel and the sphere must be as large as possible so that as the wheel spins the ball spins at the same rate.

====Position Control Motor====

A second motor is used in our design to turn the lazy susan. The motor is mounted vertically through the top plate. Another, smaller, drive wheel is mounted directly to the motor shaft and then aligned with only the top, free half of the lazy susan. A second, idler wheel is mounted on the bottom plate, so the drive wheel is sandwiched between this wheel and the lazy susan. This ensures that the drive wheel is always in contact with the lazy susan because the idler wheel exerts only a normal force. Again, this is to ensure there is no slip between the lazy susan and the drive wheel so it is automatically controlled more easily.

====Complete Parts List====

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>Pittman GM8224 motor </td><td>---</td><td>2</td>
<tr><td>Helical Beam Set-Screw Shaft Coupling</td><td> 9861T508 </td><td>1</td>
<tr><td>Mounted Sleeve Bearing</td><td>5912K21 </td><td>1</td>
<tr><td>Flange Mount Ball Caster</td><td>5674K77 </td><td>3</td>
<tr><td>Lazy Susan</td><td>1443T2</td><td>1</td>
<tr><td>Drive Wheel</td><td>60885K23 </td><td>1</td>
<tr><td>Small Drive Wheel</td><td>2471K12 </td><td>1</td>
<tr><td>Idler Wheel</td><td>60885K79 </td><td>1</td>
<tr><td>1/4” Aluminum Rod</td><td>---</td><td>---</td>
<tr><td>Aluminum Sheet Metal</td><td>---</td><td>---</td>
<tr><td>Plywood</td><td>---</td><td>---</td>
</table>

==Circuitry==

===Summary===
Our project was unique in that we relied on the use of three different PICs to precisely coordinate the motion of our ball. The main reason for this was because the 18F4520 chip only has enough encoder inputs for one Pittman motor.

===Component List===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>PIC18f4520 Prototyping Board</td><td>---</td><td>1</td>
<tr><td>Microchip 8-bit PIC Microcontroller</td><td>PIC18F4520</td><td>3</td>
<tr><td>Pittman Motor with Encoder</td><td>GM8224</td><td>3</td>
<tr><td>Hex Inverter Chip</td><td>SN74HC04</td><td>1</td>
<tr><td>Counter Chip</td><td>LS7083</td><td>2</td>
<tr><td>H-Bridge Chip</td><td>L293</td><td>1</td>
<tr><td>Diodes</td><td>1N4001</td><td>8</td>
<tr><td>100mF Capacitor</td><td>---</td><td>---</td>
<tr><td>1K Resistor</td><td>---</td><td>---</td>
<tr><td>Hall Effect Sensor</td><td>A3240LUA-T</td><td>1</td>
<tr><td>Big Cat Super Strong Magnet</td><td>PM20134</td><td>1</td>
</table>

===Set Up===
The electrical design for our project was pretty basic. All of our components (including the Pittman motors) were powered with 5V DC.

<b>PICs</b>

The three PICs communicated via I2C, which enabled us to control the two motors by telling the master PIC what to do (more information can be found [[I2C communication between PICs|here]]). We designated the PIC on the 18F4520 Prototyping Board as the "Master" and the other two PICs as the "Slaves." It is important to connect the clock from the prototyping board to the two Slave PICs, but the two main lines of communication are shared on pin 18 (RC3) on each chip, and pin 23 (RC4).

<b>H-Bridge</b>

Each slave PIC sends an individual pulse to one of the two H-bridges (the L298 has two). The pulse width determines the direction and speed of each motor. At 50% duty cycle, the motor is at rest, while at 0 and 100% duty cycles the motor runs at maximum speed but in opposite directions. Pin 16 from the first slave PIC needs to connect to pin 10 on the L298, while other other should connect to pin 5.

<b>Hex Inverter</b>

Now pins 5 and 10 from the H-bridge needs to go into pins 1 and 13 on the hex inverter chip. The outputs of these two need to go back the the H-bridge as an inverted signal for pulse width modulation (pin 1 to L298's pin 12, and pin 14 to L298's pin 7).

<b>Counter</b>

The last main component that needs to be implemented in the counter chip. This enables us to take fewer counts from the high encoder on the Pittman motors to control the movement of the motor. Pins 4 and 5 are used to connect directly to the blue and yellow lines on each Pittman encoder. Pins 1, 3, and 6 should all be hooked to ground, while pin 2 should be +5V. Pins 7 and 8 should connect to pins 15 and 6, respectively on the slave PIC that is correspondent to this counter chip.

===Schematic===

===Pictures===

==PIC Code==

==Matlab Code==

==Results==

Granular Flow Rotating Sphere

2008-03-20T22:44:25Z

KristiBond: /* Complete Parts List */

[[ME 333 final projects]]

==Team Members==
*Brian Kephart - Electrical Engineering Class of 2009
*Jonathan Shih - Mechanical Engineering Class of 2009
*Kristi Bond - Mechanical Engineering Class of 2008

==Overview==

==Mechanical Set-up==

====Main Housing====

The main housing, or case, for our design is composed of the following pieces.

*One 13.5” x 12” x ¾” plywood rectangle
*One 13.5” x 12” x ¾” plywood rectangle with a 3.5” diameter circle removed from the center
*Two 12” x 2.5”x ¾” plywood rectangles

The two larger rectangles form the top and bottom of the set-up with the two smaller rectangles placed vertically between to form a box with two open ends on the front and back face.

====Ball Support====

Three ball casters are placed on vertical mounts around the center circle of the top piece of the housing at equal angles. These casters prevent the ball from moving in any horizontal direction so it is only free to rotate. One of these casters is adjustable to allow the user to make sure the ball is correctly supported above the drive wheel. The force of gravity is strong enough to prevent the ball from moving up and out of the housing and also ensures a good connection with the drive wheel that is placed directly under the center of the sphere.

====Main Drive Wheel====

The main drive wheel is centered under the rotating sphere. The wheel is mounted onto a ¼” aluminum shaft which is connected to the Pittman motor with a flexible coupling and is also supported by a sleeve bearing on the other side of the wheel.

====Lazy Susan====

The main drive wheel with its corresponding motor and other components are all mounted on top of a lazy susan that is centered on the bottom piece of the housing and secured with screws. This lazy susan allows rotational motion but prevents movement in any other direction allowing the wheel to turn but always have the same center of contact with the sphere above. It is important to ensure that the drive wheel has a good connection with the sphere above because the frictional force between the wheel and the sphere must be as large as possible so that as the wheel spins the ball spins at the same rate.

====Position Control Motor====

A second motor is used in our design to turn the lazy susan. The motor is mounted vertically through the top plate. Another, smaller, drive wheel is mounted directly to the motor shaft and then aligned with only the top, free half of the lazy susan. A second, idler wheel is mounted on the bottom plate, so the drive wheel is sandwiched between this wheel and the lazy susan. This ensures that the drive wheel is always in contact with the lazy susan because the idler wheel exerts only a normal force. Again, this is to ensure there is no slip between the lazy susan and the drive wheel so it is automatically controlled more easily.

====Complete Parts List====

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>Pittman GM8224 motor </td><td>---</td><td>2</td>
<tr><td>Helical Beam Set-Screw Shaft Coupling</td><td> 9861T508 </td><td>1</td>
<tr><td>Mounted Sleeve Bearing</td><td>5912K21 </td><td>1</td>
<tr><td>Flange Mount Ball Caster</td><td>5674K77 </td><td>3</td>
<tr><td>Lazy Susan</td><td>1443T2</td><td>1</td>
<tr><td>Drive Wheel</td><td>60885K23 </td><td>1</td>
<tr><td>Small Drive Wheel</td><td>2471K12 </td><td>1</td>
<tr><td>Idler Wheel</td><td>60885K79 </td><td>---</td>
<tr><td>1/4” Aluminum Rod</td><td>---</td><td>---</td>
<tr><td>Aluminum Sheet Metal</td><td>---</td><td>---</td>
<tr><td>Plywood</td><td>---</td><td>---</td>
</table>

==Circuitry==

===Summary===
Our project was unique in that we relied on the use of three different PICs to precisely coordinate the motion of our ball. The main reason for this was because the 18F4520 chip only has enough encoder inputs for one Pittman motor.

===Component List===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>PIC18f4520 Prototyping Board</td><td>---</td><td>1</td>
<tr><td>Microchip 8-bit PIC Microcontroller</td><td>PIC18F4520</td><td>3</td>
<tr><td>Pittman Motor with Encoder</td><td>GM8224</td><td>3</td>
<tr><td>Hex Inverter Chip</td><td>SN74HC04</td><td>1</td>
<tr><td>Counter Chip</td><td>LS7083</td><td>2</td>
<tr><td>H-Bridge Chip</td><td>L293</td><td>1</td>
<tr><td>Diodes</td><td>1N4001</td><td>8</td>
<tr><td>100mF Capacitor</td><td>---</td><td>---</td>
<tr><td>1K Resistor</td><td>---</td><td>---</td>
<tr><td>Hall Effect Sensor</td><td>A3240LUA-T</td><td>1</td>
<tr><td>Big Cat Super Strong Magnet</td><td>PM20134</td><td>1</td>
</table>

===Set Up===
The electrical design for our project was pretty basic. All of our components (including the Pittman motors) were powered with 5V DC.

<b>PICs</b>

The three PICs communicated via I2C, which enabled us to control the two motors by telling the master PIC what to do (more information can be found [[I2C communication between PICs|here]]). We designated the PIC on the 18F4520 Prototyping Board as the "Master" and the other two PICs as the "Slaves." It is important to connect the clock from the prototyping board to the two Slave PICs, but the two main lines of communication are shared on pin 18 (RC3) on each chip, and pin 23 (RC4).

<b>H-Bridge</b>

Each slave PIC sends an individual pulse to one of the two H-bridges (the L298 has two). The pulse width determines the direction and speed of each motor. At 50% duty cycle, the motor is at rest, while at 0 and 100% duty cycles the motor runs at maximum speed but in opposite directions. Pin 16 from the first slave PIC needs to connect to pin 10 on the L298, while other other should connect to pin 5.

<b>Hex Inverter</b>

Now pins 5 and 10 from the H-bridge needs to go into pins 1 and 13 on the hex inverter chip. The outputs of these two need to go back the the H-bridge as an inverted signal for pulse width modulation (pin 1 to L298's pin 12, and pin 14 to L298's pin 7).

<b>Counter</b>

The last main component that needs to be implemented in the counter chip. This enables us to take fewer counts from the high encoder on the Pittman motors to control the movement of the motor. Pins 4 and 5 are used to connect directly to the blue and yellow lines on each Pittman encoder. Pins 1, 3, and 6 should all be hooked to ground, while pin 2 should be +5V. Pins 7 and 8 should connect to pins 15 and 6, respectively on the slave PIC that is correspondent to this counter chip.

===Schematic===

===Pictures===

==PIC Code==

==Matlab Code==

==Results==

Granular Flow Rotating Sphere

2008-03-20T22:29:35Z

KristiBond: /* Mechanical Set-up */

[[ME 333 final projects]]

==Team Members==
*Brian Kephart - Electrical Engineering Class of 2009
*Jonathan Shih - Mechanical Engineering Class of 2009
*Kristi Bond - Mechanical Engineering Class of 2008

==Overview==

==Mechanical Set-up==

====Main Housing====

The main housing, or case, for our design is composed of the following pieces.

*One 13.5” x 12” x ¾” plywood rectangle
*One 13.5” x 12” x ¾” plywood rectangle with a 3.5” diameter circle removed from the center
*Two 12” x 2.5”x ¾” plywood rectangles

The two larger rectangles form the top and bottom of the set-up with the two smaller rectangles placed vertically between to form a box with two open ends on the front and back face.

====Ball Support====

Three ball casters are placed on vertical mounts around the center circle of the top piece of the housing at equal angles. These casters prevent the ball from moving in any horizontal direction so it is only free to rotate. One of these casters is adjustable to allow the user to make sure the ball is correctly supported above the drive wheel. The force of gravity is strong enough to prevent the ball from moving up and out of the housing and also ensures a good connection with the drive wheel that is placed directly under the center of the sphere.

====Main Drive Wheel====

The main drive wheel is centered under the rotating sphere. The wheel is mounted onto a ¼” aluminum shaft which is connected to the Pittman motor with a flexible coupling and is also supported by a sleeve bearing on the other side of the wheel.

====Lazy Susan====

The main drive wheel with its corresponding motor and other components are all mounted on top of a lazy susan that is centered on the bottom piece of the housing and secured with screws. This lazy susan allows rotational motion but prevents movement in any other direction allowing the wheel to turn but always have the same center of contact with the sphere above. It is important to ensure that the drive wheel has a good connection with the sphere above because the frictional force between the wheel and the sphere must be as large as possible so that as the wheel spins the ball spins at the same rate.

====Position Control Motor====

A second motor is used in our design to turn the lazy susan. The motor is mounted vertically through the top plate. Another, smaller, drive wheel is mounted directly to the motor shaft and then aligned with only the top, free half of the lazy susan. A second, idler wheel is mounted on the bottom plate, so the drive wheel is sandwiched between this wheel and the lazy susan. This ensures that the drive wheel is always in contact with the lazy susan because the idler wheel exerts only a normal force. Again, this is to ensure there is no slip between the lazy susan and the drive wheel so it is automatically controlled more easily.

====Complete Parts List====

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td> Pittman GM8224 motor </td><td>---</td><td>2</td>
<tr><td>Helical Beam Set-Screw Shaft Coupling</td><td> 9861T508 </td><td>1</td>
</table>

==Circuitry==

===Summary===
Our project was unique in that we relied on the use of three different PICs to precisely coordinate the motion of our ball. The main reason for this was because the 18F4520 chip only has enough encoder inputs for one Pittman motor.

===Component List===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>PIC18f4520 Prototyping Board</td><td>---</td><td>1</td>
<tr><td>Microchip 8-bit PIC Microcontroller</td><td>PIC18F4520</td><td>3</td>
<tr><td>Pittman Motor with Encoder</td><td>GM8224</td><td>3</td>
<tr><td>Hex Inverter Chip</td><td>SN74HC04</td><td>1</td>
<tr><td>Counter Chip</td><td>LS7083</td><td>2</td>
<tr><td>H-Bridge Chip</td><td>L293</td><td>1</td>
<tr><td>Diodes</td><td>1N4001</td><td>8</td>
<tr><td>100mF Capacitor</td><td>---</td><td>---</td>
<tr><td>1K Resistor</td><td>---</td><td>---</td>
<tr><td>Hall Effect Sensor</td><td>A3240LUA-T</td><td>1</td>
<tr><td>Big Cat Super Strong Magnet</td><td>PM20134</td><td>1</td>
</table>

===Set Up===
The electrical design for our project was pretty basic. All of our components (including the Pittman motors) were powered with 5V DC.

<b>PICs</b>

The three PICs communicated via I2C, which enabled us to control the two motors by telling the master PIC what to do (more information can be found [[I2C communication between PICs|here]]). We designated the PIC on the 18F4520 Prototyping Board as the "Master" and the other two PICs as the "Slaves." It is important to connect the clock from the prototyping board to the two Slave PICs, but the two main lines of communication are shared on pin 18 (RC3) on each chip, and pin 23 (RC4).

<b>H-Bridge</b>

Each slave PIC sends an individual pulse to one of the two H-bridges (the L298 has two). The pulse width determines the direction and speed of each motor. At 50% duty cycle, the motor is at rest, while at 0 and 100% duty cycles the motor runs at maximum speed but in opposite directions. Pin 16 from the first slave PIC needs to connect to pin 10 on the L298, while other other should connect to pin 5.

<b>Hex Inverter</b>

Now pins 5 and 10 from the H-bridge needs to go into pins 1 and 13 on the hex inverter chip. The outputs of these two need to go back the the H-bridge as an inverted signal for pulse width modulation (pin 1 to L298's pin 12, and pin 14 to L298's pin 7).

<b>Counter</b>

The last main component that needs to be implemented in the counter chip. This enables us to take fewer counts from the high encoder on the Pittman motors to control the movement of the motor. Pins 4 and 5 are used to connect directly to the blue and yellow lines on each Pittman encoder. Pins 1, 3, and 6 should all be hooked to ground, while pin 2 should be +5V. Pins 7 and 8 should connect to pins 15 and 6, respectively on the slave PIC that is correspondent to this counter chip.

===Schematic===

===Pictures===

==PIC Code==

==Matlab Code==

==Results==

Granular Flow Rotating Sphere

2008-03-20T22:27:45Z

KristiBond: /* Mechanical Set-up */

[[ME 333 final projects]]

==Team Members==
*Brian Kephart - Electrical Engineering Class of 2009
*Jonathan Shih - Mechanical Engineering Class of 2009
*Kristi Bond - Mechanical Engineering Class of 2008

==Overview==

==Mechanical Set-up==

====Main Housing====

The main housing, or case, for our design is composed of the following pieces.

*One 13.5” x 12” x ¾” plywood rectangle
*One 13.5” x 12” x ¾” plywood rectangle with a 3.5” diameter circle removed from the center
*Two 12” x 2.5”x ¾” plywood rectangles

The two larger rectangles form the top and bottom of the set-up with the two smaller rectangles placed vertically between to form a box with two open ends on the front and back face.

====Ball Support====

Three ball casters are placed on vertical mounts around the center circle of the top piece of the housing at equal angles. These casters prevent the ball from moving in any horizontal direction so it is only free to rotate. One of these casters is adjustable to allow the user to make sure the ball is correctly supported above the drive wheel. The force of gravity is strong enough to prevent the ball from moving up and out of the housing and also ensures a good connection with the drive wheel that is placed directly under the center of the sphere.

====Main Drive Wheel====

The main drive wheel is centered under the rotating sphere. The wheel is mounted onto a ¼” aluminum shaft which is connected to the Pittman motor with a flexible coupling and is also supported by a sleeve bearing on the other side of the wheel.

====Lazy Susan====

The main drive wheel with its corresponding motor and other components are all mounted on top of a lazy susan that is centered on the bottom piece of the housing and secured with screws. This lazy susan allows rotational motion but prevents movement in any other direction allowing the wheel to turn but always have the same center of contact with the sphere above. It is important to ensure that the drive wheel has a good connection with the sphere above because the frictional force between the wheel and the sphere must be as large as possible so that as the wheel spins the ball spins at the same rate.

====Position Control Motor====

A second motor is used in our design to turn the lazy susan. The motor is mounted vertically through the top plate. Another, smaller, drive wheel is mounted directly to the motor shaft and then aligned with only the top, free half of the lazy susan. A second, idler wheel is mounted on the bottom plate, so the drive wheel is sandwiched between this wheel and the lazy susan. This ensures that the drive wheel is always in contact with the lazy susan because the idler wheel exerts only a normal force. Again, this is to ensure there is no slip between the lazy susan and the drive wheel so it is automatically controlled more easily.

====Complete Parts List====

<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td> Pittman GM8224 motor </td><td>---</td><td>2</td>
<tr><td>Helical Beam Set-Screw Shaft Coupling</td><td> 9861T508 </td><td>1</td>

==Circuitry==

===Summary===
Our project was unique in that we relied on the use of three different PICs to precisely coordinate the motion of our ball. The main reason for this was because the 18F4520 chip only has enough encoder inputs for one Pittman motor.

===Component List===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>PIC18f4520 Prototyping Board</td><td>---</td><td>1</td>
<tr><td>Microchip 8-bit PIC Microcontroller</td><td>PIC18F4520</td><td>3</td>
<tr><td>Pittman Motor with Encoder</td><td>GM8224</td><td>3</td>
<tr><td>Hex Inverter Chip</td><td>SN74HC04</td><td>1</td>
<tr><td>Counter Chip</td><td>LS7083</td><td>2</td>
<tr><td>H-Bridge Chip</td><td>L293</td><td>1</td>
<tr><td>Diodes</td><td>1N4001</td><td>8</td>
<tr><td>100mF Capacitor</td><td>---</td><td>---</td>
<tr><td>1K Resistor</td><td>---</td><td>---</td>
<tr><td>Hall Effect Sensor</td><td>A3240LUA-T</td><td>1</td>
<tr><td>Big Cat Super Strong Magnet</td><td>PM20134</td><td>1</td>
</table>

===Set Up===
The electrical design for our project was pretty basic. All of our components (including the Pittman motors) were powered with 5V DC.

<b>PICs</b>

The three PICs communicated via I2C, which enabled us to control the two motors by telling the master PIC what to do (more information can be found [[I2C communication between PICs|here]]). We designated the PIC on the 18F4520 Prototyping Board as the "Master" and the other two PICs as the "Slaves." It is important to connect the clock from the prototyping board to the two Slave PICs, but the two main lines of communication are shared on pin 18 (RC3) on each chip, and pin 23 (RC4).

<b>H-Bridge</b>

Each slave PIC sends an individual pulse to one of the two H-bridges (the L298 has two). The pulse width determines the direction and speed of each motor. At 50% duty cycle, the motor is at rest, while at 0 and 100% duty cycles the motor runs at maximum speed but in opposite directions. Pin 16 from the first slave PIC needs to connect to pin 10 on the L298, while other other should connect to pin 5.

<b>Hex Inverter</b>

Now pins 5 and 10 from the H-bridge needs to go into pins 1 and 13 on the hex inverter chip. The outputs of these two need to go back the the H-bridge as an inverted signal for pulse width modulation (pin 1 to L298's pin 12, and pin 14 to L298's pin 7).

<b>Counter</b>

The last main component that needs to be implemented in the counter chip. This enables us to take fewer counts from the high encoder on the Pittman motors to control the movement of the motor. Pins 4 and 5 are used to connect directly to the blue and yellow lines on each Pittman encoder. Pins 1, 3, and 6 should all be hooked to ground, while pin 2 should be +5V. Pins 7 and 8 should connect to pins 15 and 6, respectively on the slave PIC that is correspondent to this counter chip.

===Schematic===

===Pictures===

==PIC Code==

==Matlab Code==

==Results==

Granular Flow Rotating Sphere

2008-03-20T22:17:36Z

KristiBond: /* Mechanical Set-up */

[[ME 333 final projects]]

==Team Members==
*Brian Kephart - Electrical Engineering Class of 2009
*Jonathan Shih - Mechanical Engineering Class of 2009
*Kristi Bond - Mechanical Engineering Class of 2008

==Overview==

==Mechanical Set-up==

====Main Housing====

The main housing, or case, for our design is composed of the following pieces.

*One 13.5” x 12” x ¾” plywood rectangle
*One 13.5” x 12” x ¾” plywood rectangle with a 3.5” diameter circle removed from the center
*Two 12” x 2.5”x ¾” plywood rectangles

The two larger rectangles form the top and bottom of the set-up with the two smaller rectangles placed vertically between to form a box with two open ends on the front and back face.

====Ball Support====

Three ball casters are placed on vertical mounts around the center circle of the top piece of the housing at equal angles. These casters prevent the ball from moving in any horizontal direction so it is only free to rotate. One of these casters is adjustable to allow the user to make sure the ball is correctly supported above the drive wheel. The force of gravity is strong enough to prevent the ball from moving up and out of the housing and also ensures a good connection with the drive wheel that is placed directly under the center of the sphere.

====Main Drive Wheel====

The main drive wheel is centered under the rotating sphere. The wheel is mounted onto a ¼” aluminum shaft which is connected to the Pittman motor with a flexible coupling and is also supported by a sleeve bearing on the other side of the wheel.

====Lazy Susan====

The main drive wheel with its corresponding motor and other components are all mounted on top of a lazy susan that is centered on the bottom piece of the housing and secured with screws. This lazy susan allows rotational motion but prevents movement in any other direction allowing the wheel to turn but always have the same center of contact with the sphere above. It is important to ensure that the drive wheel has a good connection with the sphere above because the frictional force between the wheel and the sphere must be as large as possible so that as the wheel spins the ball spins at the same rate.

====Position Control Motor====

A second motor is used in our design to turn the lazy susan. The motor is mounted vertically through the top plate. Another, smaller, drive wheel is mounted directly to the motor shaft and then aligned with only the top, free half of the lazy susan. A second, idler wheel is mounted on the bottom plate, so the drive wheel is sandwiched between this wheel and the lazy susan. This ensures that the drive wheel is always in contact with the lazy susan because the idler wheel exerts only a normal force. Again, this is to ensure there is no slip between the lazy susan and the drive wheel so it is automatically controlled more easily.

==Circuitry==

===Summary===
Our project was unique in that we relied on the use of three different PICs to precisely coordinate the motion of our ball. The main reason for this was because the 18F4520 chip only has enough encoder inputs for one Pittman motor.

===Component List===
<table border=1>
<tr><th>Part</th><th>Part No.</th><th>Qty</th>
<tr><td>PIC18f4520 Prototyping Board</td><td>---</td><td>1</td>
<tr><td>Microchip 8-bit PIC Microcontroller</td><td>PIC18F4520</td><td>3</td>
<tr><td>Pittman Motor with Encoder</td><td>GM8224</td><td>3</td>
<tr><td>Hex Inverter Chip</td><td>SN74HC04</td><td>1</td>
<tr><td>Counter Chip</td><td>LS7083</td><td>2</td>
<tr><td>H-Bridge Chip</td><td>L293</td><td>1</td>
<tr><td>Diodes</td><td>1N4001</td><td>8</td>
<tr><td>100mF Capacitor</td><td>---</td><td>---</td>
<tr><td>1K Resistor</td><td>---</td><td>---</td>
<tr><td>Hall Effect Sensor</td><td>A3240LUA-T</td><td>1</td>
<tr><td>Big Cat Super Strong Magnet</td><td>PM20134</td><td>1</td>
</table>

===Set Up===
The electrical design for our project was pretty basic. All of our components (including the Pittman motors) were powered with 5V DC.

<b>PICs</b>

The three PICs communicated via I2C, which enabled us to control the two motors by telling the master PIC what to do (more information can be found [[I2C communication between PICs|here]]). We designated the PIC on the 18F4520 Prototyping Board as the "Master" and the other two PICs as the "Slaves." It is important to connect the clock from the prototyping board to the two Slave PICs, but the two main lines of communication are shared on pin 18 (RC3) on each chip, and pin 23 (RC4).

<b>H-Bridge</b>

Each slave PIC sends an individual pulse to one of the two H-bridges (the L298 has two). The pulse width determines the direction and speed of each motor. At 50% duty cycle, the motor is at rest, while at 0 and 100% duty cycles the motor runs at maximum speed but in opposite directions. Pin 16 from the first slave PIC needs to connect to pin 10 on the L298, while other other should connect to pin 5.

<b>Hex Inverter</b>

Now pins 5 and 10 from the H-bridge needs to go into pins 1 and 13 on the hex inverter chip. The outputs of these two need to go back the the H-bridge as an inverted signal for pulse width modulation (pin 1 to L298's pin 12, and pin 14 to L298's pin 7).

<b>Counter</b>

The last main component that needs to be implemented in the counter chip. This enables us to take fewer counts from the high encoder on the Pittman motors to control the movement of the motor. Pins 4 and 5 are used to connect directly to the blue and yellow lines on each Pittman encoder. Pins 1, 3, and 6 should all be hooked to ground, while pin 2 should be +5V. Pins 7 and 8 should connect to pins 15 and 6, respectively on the slave PIC that is correspondent to this counter chip.

===Schematic===

===Pictures===

==PIC Code==

==Matlab Code==

==Results==

Storing constant data in program memory

2008-02-07T16:35:00Z

KristiBond: /* Circuit */

== Original Assignment ==

Your PIC has a relatively large amount of program memory (32 Kbytes) but relatively little data memory (1536 bytes). For some applications, we want to have lookup tables or calibration data stored on our PIC, but we don't want it hogging data memory. This project is to demonstrate how to write a program that stores constant data in program memory. Test your ability to do this by creating a look-up table for the sin function. This is a 1-d array with integer index corresponding to an angle (e.g., numbers 0 to 89 if the index is in degrees; angles in other quadrants can be determined by simple transformations). Depending on your choice of int8, int16, or float to represent the number, what angle resolution can you use for the index before you reach the limits of program memory?

See p. 43 of the PIC MCU C Compiler book.

Finally, give sample code for storing data in the EEPROM, too.

== Overview ==
The PIC has a relatively large amount of program memory (32 Kbytes) but relatively little data memory (1536 bytes). For some applications, we want to have lookup tables or calibration data stored on our PIC, but we don't want it hogging data memory. The CCS C Compiler provides a few different ways to use program memory for data, discussed below. We have also provided an example of how to create a look-up table for the sin function to illustrate one of these methods.

=== Constant Data ===
The CONST qualifier will place variables into program memory. If the keyword CONST is used before the identifier, the identifier is treated as a constant. These constants need to be initialized and cannot be changed at run-time.

The ROM qualifier puts data in program memory with 3 bytes per instruction space. The address used for ROM data is a true byte address not a physical address. The & operator can be used on ROM variables even though the address is logical not physical.

The syntax is: const type id[cexpr] = {value}

You must initialize the constant variable when you declare it or the compiler will spit out an error at you. Which means, unfortunately, you can't do something like:

for (i = 0; i < 100; i++)
const float listOfNumbers[i] = i;
end

=== #ROM Directive ===
Another method that can be used to assign data to program memory is the #ROM directive.

The syntax is: #rom address = {data, data, ... , data}

The following example places the numbers 1, 3, 5, 7, 9 into ROM addresses starting at 0x2000:

#rom 0x2000 = {1, 3, 5, 7, 9}

You can also put strings into program memory using the #ROM directive:

#rom 0x3000 = {"mechatronicsrocks"}

=== Built-in Functions ===
The compiler provides built in functions to place data in program memory.

write_program_eeprom(address,data);
* Writes <b>data</b> to program memory. <b>data</b> is stored in 16-bit chunks.

write_program_memory(address, dataptr, count);
* Writes <b>count</b> bytes of data from <b>dataptr</b> to <b>address</b> in program memory.
* Every fourth byte of data will not be written, this needs to be filled with 0x00.

== Circuit ==

We have no circuit.

== Code ==

===#ROM Directive Examples===
Writes sine values to ROM addresses starting at 0x1000
#rom 0x1000 = {0,0.017452,0.034899,0.052336,0.069756,0.087156,0.104528,0.121869,0.139173,0.156434,
0.173648,0.190809,0.207912,0.224951,0.241922,0.258819,0.275637,0.292372,0.309017,0.325568,
0.34202,0.358368,0.374607,0.390731,0.406737,0.422618,0.438371,0.45399,0.469472,0.48481,0.5,
0.515038,0.529919,0.544639,0.559193,0.573576,0.587785,0.601815,0.615661,0.62932,0.642788,
0.656059,0.669131,0.681998,0.694658,0.707107,0.71934,0.731354,0.743145,0.75471,0.766044,
0.777146,0.788011,0.798636,0.809017,0.819152,0.829038,0.838671,0.848048,0.857167,0.866025,
0.87462,0.882948,0.891007,0.898794,0.906308,0.913545,0.920505,0.927184,0.93358,0.939693,
0.945519,0.951057,0.956305,0.961262,0.965926,0.970296,0.97437,0.978148,0.981627,0.984808,
0.987688,0.990268,0.992546,0.994522,0.996195,0.997564,0.99863,0.999391,0.999848};

===Creating a look-up table for the sine function using CONST===

*int8 = 8 bit number (1 byte); range 0 to 255 (2-3 digits)
*int16 = 16 bit number (2 bytes); range 0 to 65535 (4-5 digits)
*float = 32 bit number (4 bytes); range -1.5x10^45 to 3.4x10^38 (7-8 digits)

With values of sine from 0-89°, we can calculate sine values for all 360°. Below is code storing a table of sine values from 0-89° with a angle resolution of 1° and algorithm for calculating sine values for 90-360°.

const float sineTable[90] =
{0,0.017452,0.034899,0.052336,0.069756,0.087156,0.104528,0.121869,0.139173,0.156434,
0.173648,0.190809,0.207912,0.224951,0.241922,0.258819,0.275637,0.292372,0.309017,0.325568,
0.34202,0.358368,0.374607,0.390731,0.406737,0.422618,0.438371,0.45399,0.469472,0.48481,0.5,
0.515038,0.529919,0.544639,0.559193,0.573576,0.587785,0.601815,0.615661,0.62932,0.642788,
0.656059,0.669131,0.681998,0.694658,0.707107,0.71934,0.731354,0.743145,0.75471,0.766044,
0.777146,0.788011,0.798636,0.809017,0.819152,0.829038,0.838671,0.848048,0.857167,0.866025,
0.87462,0.882948,0.891007,0.898794,0.906308,0.913545,0.920505,0.927184,0.93358,0.939693,
0.945519,0.951057,0.956305,0.961262,0.965926,0.970296,0.97437,0.978148,0.981627,0.984808,
0.987688,0.990268,0.992546,0.994522,0.996195,0.997564,0.99863,0.999391,0.999848};

//To look up sine values from the table, you could use a function like the following:
float sineLookup(index){
i = index % 360; //Is there a better way to implement this?
if (i >= 0 && i < 90)
return sineTable[i];
else if (i >= 90 && i < 180)
return sineTable[179-i];
else if (i >= 180 && i < 270)
return -sineTable[180-i];
else if (i >= 270 && i < 360)
return -sineTable[359-i];
end
}

===Memory Management===

This table stores values as floats and is 360 bytes in size. Since the PIC has 32 KB of program memory, we could theoretically hold a sine lookup table precise to 0.01125° (32000/360 = 88.8x larger size; 1°/88.8 = 0.01125°).

const int8 sineTable[90] = ...

Because int8 cannot hold decimal values, and can only have up to 256 different values, a table made with int8 values might be difficult.
A more realistic version using int16 would be more useful, and could start off like this:

{0,175,349,523,697,872,1045,1219,1392,1564,1736,
1908,2079,2250,2419,2588,2756,2924,3090,3256...}

In your main program, you could insert a function that divides all these values by 10,000 to obtain the decimal value for the sine table.
In the previous example, a sine table would take up 180 bytes. We could theoretically hold a sine lookup table precise to 0.00562° (32000/180 = 177.8x larger size; 1°/177.8 = 0.00562°).

===Creating a sine look-up table using EEPROM===

for (i = 0,i < 90, i++)
data[4]=
write_program_eeprom(i>>2,

To read, use:

read_program_eeprom(address)

Storing constant data in program memory

2008-02-04T18:52:48Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:51:28Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:49:49Z

KristiBond: /* Code */

Storing constant data in program memory

2008-02-04T18:48:27Z

KristiBond: /* Code */

Storing constant data in program memory

2008-02-04T18:46:14Z

KristiBond: /* #ROM Directive */

Storing constant data in program memory

2008-02-04T18:45:03Z

KristiBond: /* Code */

Storing constant data in program memory

2008-02-04T18:41:18Z

KristiBond: /* Constant Data */

Storing constant data in program memory

2008-02-04T18:38:02Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:37:32Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:37:13Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:36:55Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:35:13Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:33:39Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:33:06Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:31:44Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:31:30Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:31:04Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:30:01Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:29:45Z

KristiBond: /* Built-in Functions */

Storing constant data in program memory

2008-02-04T18:27:46Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:23:51Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:21:48Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:14:05Z

KristiBond: /* Circuit */

Storing constant data in program memory

2008-02-04T18:10:40Z

KristiBond: /* Overview */

Storing constant data in program memory

2008-02-04T18:04:51Z

KristiBond: /* Overview */