Laboratory 4

Potentiometer & Servo Motor

SCADA 1
Course Code: PROC TECH 3SC3

B. Tech - PAT

OBJECTIVE
Inthislabyouwilllearnhowtouseclusterarrays,andtheformulanodefunction,andusethemto
controlaservomotorwithapotentiometer.

MATERIALS
ArduinoUNO&USBCable
Breadboard
SG90ServoMotor
Potentiometer
8xJumperWires

BACKGROUNDREADING
Pleasereadthefollowingmaterialpriortothislab:

1. Tutorial:MathScriptandFormulaNode,April2015Edition.Availableonlineat
http://www.ni.com/whitepaper/7572/en/
2. SG90ServoMotor,Availableonlineathttp://www.micropik.com/PDF/SG90Servo.pdf

PROCEDURE
Step1:CreatetheArduinoCircuit

1. ConnectfromthePositive(+)rowontheBreadboardto5VontheArduino,andfromthe
Negative()rowontheBreadboardtoGround(GND)ontheArduino.
2. ConnecttheServoMotor
a. ConnecttheGNDwireoftheservototheNegative()rowontheBreadboard.
b. ConnecttheVCCwireoftheservotothePositive(+)rowontheBreadboard.
c. ConnectthePWMwireofthe
servototheDigital(7)pinon
theArduino.
3. ConnectthePotentiometer
a. Connectoneoftheoutside
wirestotheNegative()row
ontheBreadboard.
b. Connecttheotherofthe
outsidewirestothePositive
(+)rowontheBreadboard.
c. Connectthemiddlewiretothe Figure1:ArduinoCircuit
Analog(0)pinontheArduino.
4. YourcircuitshouldnowlooklikeFigure1.

Step2:CreateMainLabVIEWprogram

1. OntheBlockDiagram,addtheInitfunctionfromtheArduinosubmenuandrightclickonthe
ArduinoResource,gotoCreate,andselectConstant,andsetittoCOM3.
2. UndertheArduino,Sensors,Servosection,addtheSetNumberofServosfunctionnexttothe
Initfunction.CreateaconstantfortheNumberofServosinputandsetitto1.
3. Fromthesamesection,addtheConfigureServofunction.
a. CreateaconstantforServoNumberandsetitto0.
b. CreateaconstantforDIOPinandsetitto7.
4. Next,placeaWhileLoopontheBlockDiagram,andconnecttheArduinoResourceanderrorout
outputstotheloopwithtunnels.Also,rightclickonthestopsignandcreateacontrol.
5. InsidetheloopaddthefunctionAnalogReadPinfromtheArduino,LowLevelsectionwith
AnalogInputPininputsetto0.
6. Also,addthefunctionServoWriteAnglefunctionfromtheArduino,Sensors,Servosection
withServoNumberinputsetto0.
7. ConnectbothArduinoResourceanderrorthroughthetwofunctions,andoutofthelooptothe
Closefunction.
8. YourcodeshouldnowlooklikeFigure2.

Figure2:ArduinoInterface

9. OntheFrontPaneladdaComboBoxfromtheString&Pathsection(Rename:Choice).Right
clickonitandselectEditItemsandinserttwoitems,namethemManualandAutomatic.
10. AddaGaugecontrolfromtheNumericsection
(Rename:Angle).Changetherangeto0180.
11. AddtwoNumericControlsfromtheNumeric
section(Rename:Speed&WaveCount).
12. AddanOKButtoncontrolfromtheBoolean
section(Rename:GO).
13. YourpanelshouldnowlooklikeFigure3.

3
Figure3:FrontPanel

 14. Placethefourinputcontrolsintheloopontheleftside.CreatealocalvariableforAngle.Setit
toreadmode.Placeitamongsttheotherinputs.PlaceAngleontherightside.
15. PlaceaCaseStructurefunctionintheloop,andconnectChoicetotheCaseSelectorinput.
ChangethecasestoManual,DefaultandAutomatic.
16. IntheManualcaseplaceaFormulaNodefromtheProgramming,Structuressection.
a. IntheFormulaNodetypeD=V*180/5;.Thisisdonetoconvertfromvoltagetodegrees,
sincetheinputwillbefrom05V,andtheoutputmustbefrom0180.
b. RightclickontheFormulaNodeandclickAddInput,renameittoV.Connectittothe
voltageoutputfromtheAnalogReadPinfunction.
c. OntheFormulaNodealsoselectAddOutput,renameittoD.ConnectittoAngle.
17. AddanotherFormulaNodeoutsidetheCaseStructure.
a. AddaninputofDandtwooutputsIandSM.
b. TypeI=180D;ononelineandSM=(I/180*X)+Y;onthenextinsidetheFormulaNode.
c. (Note:Thisstepisdonetocalibratetheprogramtothespecificsoftheindividualservo.
Findthelowestandhighestanglestheservocanturnto.ReplaceYwiththeLowest,and
XwiththeHighestminustheLowest.E.g.Ifthelowestis32andthehighestis180,Y=
32,X=148.TheI=180D;partinvertstheservosothatitturnsinsyncwiththe
potentiometer;youcanremovethisifitisunnecessaryforyourservo.Note:IftheServo
isnotlimitedtoacertainrange,theentireFormulaNodeisunnecessary).
d. ConnecttheoutputtotheAngleinputofServoWriteAngle.Yourcodeshouldnowlook
likeFigure4.

Figure4:ManualCase

Step3:CreateaSubVI

1. OpenanewBlankVI.
2. AddfourcontrolstotheFrontPanel,oneButton(Rename:Go)andoneLED(Rename:Waving)
fromtheBooleansection,andoneNumericIndicator(Rename:WavesLeft)andoneNumeric
Control(Rename:WaveCountIN)fromtheNumericsection.PlaceGoandWaveCountINintoa
Cluster,foundintheArray,Matrix&Clustersection.
3. OntheBlockDiagram,addtheUnbundlefunction,foundundertheCluster,Class&Variant
section,andconnectittothecluster.Note:Youcanreordertheoutputbyrightclickingoneach
itemandclickingSelectItemandchoosingtheitemyouwantinthatlocation.
4. AddaCaseStructureandconnectGofromtheclustertotheCaseSelector.
a. InsidetheTruecase,placetheLEDandconnectittotheCaseSelectoraswell.
b. AlsointheTruecase,connecttheWaveCountINtoWavesLeft.
c. Thisisdonetosettheinitial
conditions;wavingissettoon,and
waveslefttothewavecountinput
fromtheuser.Nocodewillbeput
intheFalsecase.Yourcodeshould
looklikeFigure5.
Figure5:InitializeWaving
5. OntheFrontPanel,add4morecontrols,
oneLED(Rename:Direction),twoNumeric
Controls(Rename:AngleINandSpeed),andoneNumericIndicator(Rename:AngleOUT).
6. PlaceAngleINandSpeedintotheclusteraswell.
7. OntheBlockDiagram,addanotherCaseStructure.
a. CreateaLocalVariableofWavingandconnectittotheCaseSelector.
b. Also,connect;bothNumericControlsintotheCaseStructure.
c. IntheFalsecase,connectAngleINallthewaythroughtheCaseStructure,andoutto
AngleOUT.ThisisallthatwillbeintheFalsecase.

Figure6:ChangeAngle
5

 8. IntheTruecase,createanotherCaseStructure.CreatealocalvariableforDirectionand
connectittotheCaseSelector.Connect;bothNumericControlsintothisCaseStructure.
a. IntheFalsecase,connectbothinputstotheSubtractfunction(AngleINSpeed),and
theoutputtoAngleOUT.
b. DothesamefortheTruecase,butwithanAddfunction.Thiswillchangetheangleby
thevalueofSpeedinthecurrentdirection.YourcodeshouldnowlooklikeFigure6.
c. AddanotherCaseStructureconnecttheCaseSelectorinputtoanORfunction.Connect
theinputsoftheORfunctiontoaGreaterorEqual?Function,andaLessorEqual?
Function.OneoftheinputsofeachwillbetheoutputfromtheotherCaseStructure.
Theotherwillbe180forthegreaterfunctionand0forthelessfunction.Thiswill
determinewhentheangleisoutoftherangeoftheservo,andchangethedirection.
i. InsidetheTruecase,placetheDirectionLED.Createanotherlocalvariablefor
Direction,setittoreadandconnectittoaNOTfunction,foundunderthe
Booleansection.ConnecttheoutputtotheDirectionLED.Thisisdonetotoggle
thedirectionoftheservomotor.
ii. AlsoplacetwolocalvariablesofWavesLeftinsidethestructure.Setoneto
read,connecttheinputtoaDecrementfunction,foundundertheNumeric
section.Connecttheoutputtotheotherlocalvariable.Thisisdonetolowerthe
numberofwaveslefteverytimethedirectionchanges.
iii. PutnothingintheFalsecase.
9. CreatealocalvariableforWavesLeft;connectittoaNotEqualto0?Function.Connectthe
outputtoalocalvariableforWaving.Thiswillturnoffwavingwhentherearenowavesleft.
10. Lastly,addaWaitfunction,foundunderTiming,andcreateaconstantfortheinputsetto10.
11. YoucodeshouldnowlooklikeFigure7.

Figure7:ToggleDirection&TurnoffWaving 6

Step4:TurnintoaSubVI

1. InthetoprightcorneroftheFrontPanel,rightclick,selectEditIcon
andchangeittosomethingbetter.E.g.WaveServo.
2. Also,connecttheinputoftheSubVIterminalstothecluster,and
connecttheoutputtoAngleOUT. Figure8:SubVI
3. Savetheprogram,andgobacktotheMainVI.

Step5:ConnecttheSubVIintheMainProgram

1. IntheFunctionsPanel,clickSelectaVIandfindyourSubVI.PlaceitintheAutomaticcaseof
theCaseStructure.
2. ConnectaBundlefunction,foundintheCluster,Class&Variantsectiontotheinput.Connect
theoutputtotheoutputoftheCaseStructure.
3. ConnectintotheBundlefunction,WaveCount,Angle,Speed,andGo.Youcanfigureoutthe
orderbygoingintotheSubVIandconnectingandUnbundlefunctiontotheclusterandseeing
whichordertheyappearinbydefault.Itisvitalthatyouputtheseinthecorrectorder.
4. Youcannowtesttheprogram.YourfinalprogramshouldlooklikeFigure9.

Figure9:FinalProgram

Step6:Applywhatyouhavelearnt

1. Modifytheprogramtohaveathirdchoice;Random.TheRandomcaseshouldchoosearandom
angle;0180,andwaitforatime,about1second,andthenchooseanotherrandomangle.