{"id":75,"date":"2013-10-15T13:23:42","date_gmt":"2013-10-15T10:23:42","guid":{"rendered":"http:\/\/www.scozturk.com\/?p=75"},"modified":"2025-08-27T10:17:23","modified_gmt":"2025-08-27T10:17:23","slug":"altera-de1-ile-servo-motor-denetleme","status":"publish","type":"post","link":"http:\/\/18.193.70.38\/?p=75&lang=tr","title":{"rendered":"Altera DE1 ile Servo Motor Denetleme"},"content":{"rendered":"

1- Giri\u015f:<\/strong><\/p>\n

Bu \u00f6rnekte 4 adet servo motoru paralel olarak FPGA ile nas\u0131l kontrol edebilece\u011fimizi g\u00f6rece\u011fiz.<\/p>\n

Servo motorlar\u0131n nas\u0131l \u00e7al\u0131\u015ft\u0131\u011f\u0131n\u0131 bilmiyorsan\u0131z sorun de\u011fil. A\u015fa\u011f\u0131daki makaleyi okuman\u0131z\u0131 tavsiye ederim.<\/p>\n

http:\/\/www.elektroboard.com\/v2\/modules\/smartsection\/item.php?itemid=2 <\/a><\/p>\n

 <\/p>\n

2- Uygulama:<\/strong><\/p>\n

4 servo motor i\u00e7in 4 tane farkl\u0131 konum belirlenmi\u015ftir. D\u00fc\u011fmelere basmak servo motorun \u00f6nceden tan\u0131ml\u0131 bir y\u00f6ne d\u00f6nmesini sa\u011flamaktad\u0131r. Herhangi bir d\u00fc\u011fmeye bas\u0131lmad\u0131\u011f\u0131nda ise orta konuma gelmektedir. A\u015fa\u011f\u0131da servo motorlar\u0131 paralel olarak kontrol eden kodu bulabilirsiniz:<\/p>\n

\n
    \n
  1. module\u00a0servo_denetleyici(SAAT,SERVO1,SERVO2,SERVO3,SERVO4,DUGME1,DUGME2,DUGME3);<\/li>\n
  2. <\/li>\n
  3. input\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SAAT;<\/li>\n
  4. output\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SERVO1;<\/li>\n
  5. output\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SERVO2;<\/li>\n
  6. output\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SERVO3;<\/li>\n
  7. output\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SERVO4;<\/li>\n
  8. input\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0DUGME1;<\/li>\n
  9. input\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0DUGME2;<\/li>\n
  10. input\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0DUGME3;<\/li>\n
  11. <\/li>\n
  12. reg\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0[30:0]\u00a0\u00a0sayac1;<\/li>\n
  13. reg\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0[30:0]\u00a0\u00a0sayac2;<\/li>\n
  14. reg\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0servom1;<\/li>\n
  15. <\/li>\n
  16. always\u00a0@\u00a0(posedge\u00a0SAAT)\u00a0begin<\/li>\n
  17. if(DUGME1)\u00a0begin<\/li>\n
  18. if(sayac1\u00a0<\u00a050000)\u00a0begin<\/li>\n
  19. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a0sayac1\u00a0+\u00a01;<\/li>\n
  20. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a01;<\/li>\n
  21. end<\/li>\n
  22. else\u00a0if(sayac1\u00a0==\u00a01000000)\u00a0begin<\/li>\n
  23. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  24. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  25. end<\/li>\n
  26. else\u00a0begin<\/li>\n
  27. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a0sayac1\u00a0+\u00a01;<\/li>\n
  28. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  29. end<\/li>\n
  30. end<\/li>\n
  31. else\u00a0if(DUGME2)\u00a0begin<\/li>\n
  32. if(sayac1\u00a0<\u00a060000)\u00a0begin<\/li>\n
  33. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a0sayac1\u00a0+\u00a01;<\/li>\n
  34. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a01;<\/li>\n
  35. end<\/li>\n
  36. else\u00a0if(sayac1\u00a0==\u00a01000000)\u00a0begin<\/li>\n
  37. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  38. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  39. end<\/li>\n
  40. else\u00a0begin<\/li>\n
  41. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a0sayac1\u00a0+\u00a01;<\/li>\n
  42. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  43. end<\/li>\n
  44. end<\/li>\n
  45. else\u00a0if(DUGME3)\u00a0begin<\/li>\n
  46. if(sayac1\u00a0<\u00a0100000)\u00a0begin<\/li>\n
  47. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a0sayac1\u00a0+\u00a01;<\/li>\n
  48. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a01;<\/li>\n
  49. end<\/li>\n
  50. else\u00a0if(sayac1\u00a0==\u00a01000000)\u00a0begin<\/li>\n
  51. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  52. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  53. end<\/li>\n
  54. else\u00a0begin<\/li>\n
  55. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a0sayac1\u00a0+\u00a01;<\/li>\n
  56. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  57. end<\/li>\n
  58. end<\/li>\n
  59. else\u00a0begin<\/li>\n
  60. if(sayac1\u00a0<\u00a075000)\u00a0begin<\/li>\n
  61. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a0sayac1\u00a0+\u00a01;<\/li>\n
  62. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a01;<\/li>\n
  63. end<\/li>\n
  64. else\u00a0if(sayac1\u00a0==\u00a01000000)\u00a0begin<\/li>\n
  65. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  66. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  67. end<\/li>\n
  68. else\u00a0begin<\/li>\n
  69. sayac1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a0sayac1\u00a0+\u00a01;<\/li>\n
  70. servom1\u00a0\u00a0\u00a0\u00a0\u00a0<=\u00a00;<\/li>\n
  71. end<\/li>\n
  72. end<\/li>\n
  73. end<\/li>\n
  74. <\/li>\n
  75. assign\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SERVO1\u00a0\u00a0=\u00a0\u00a0\u00a0servom1;<\/li>\n
  76. assign\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SERVO2\u00a0\u00a0=\u00a0\u00a0\u00a0servom1;<\/li>\n
  77. assign\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SERVO3\u00a0\u00a0=\u00a0\u00a0\u00a0servom1;<\/li>\n
  78. assign\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SERVO4\u00a0\u00a0=\u00a0\u00a0\u00a0servom1;<\/li>\n
  79. endmodule<\/li>\n<\/ol>\n<\/div>\n

    3- Son:<\/strong><\/p>\n

    G\u00f6rd\u00fc\u011f\u00fcn\u00fcz gibi 4 adet servo motoru ayn\u0131 y\u00f6ne ayn\u0131 anda d\u00f6nd\u00fcrmek \u00e7ok i\u015flevsel de\u011fil. Asl\u0131nda bu kodun yaz\u0131lma amac\u0131 ileride Haktan Canl\u0131 arkada\u015f\u0131m ile yapaca\u011f\u0131m robot kol i\u00e7in bir temel olu\u015fturmakt\u0131. Robot kol uygulamas\u0131nda servo motorlar\u0131n hareketi FPGA\u2019de tan\u0131mlad\u0131\u011f\u0131m bir bellekteki pozisyonlara g\u00f6re yap\u0131lacak. Robot kolu yapt\u0131\u011f\u0131m\u0131zda sitemden payla\u015faca\u011f\u0131m tabi. Umar\u0131m i\u015finize yarar. \u0130yi \u00e7al\u0131\u015fmalar.<\/p>\n","protected":false},"excerpt":{"rendered":"

    1- Giri\u015f: Bu \u00f6rnekte 4 adet servo motoru paralel olarak FPGA ile nas\u0131l kontrol edebilece\u011fimizi g\u00f6rece\u011fiz. Servo motorlar\u0131n nas\u0131l \u00e7al\u0131\u015ft\u0131\u011f\u0131n\u0131 bilmiyorsan\u0131z sorun de\u011fil. A\u015fa\u011f\u0131daki makaleyi okuman\u0131z\u0131 tavsiye ederim….<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[207,209],"tags":[],"class_list":["post-75","post","type-post","status-publish","format-standard","hentry","category-donanim-tr","category-verilog-tr"],"_links":{"self":[{"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/posts\/75","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/18.193.70.38\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=75"}],"version-history":[{"count":1,"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/posts\/75\/revisions"}],"predecessor-version":[{"id":1147,"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/posts\/75\/revisions\/1147"}],"wp:attachment":[{"href":"http:\/\/18.193.70.38\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=75"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/18.193.70.38\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=75"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/18.193.70.38\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=75"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}