{"id":3933,"date":"2017-02-06T15:52:57","date_gmt":"2017-02-06T15:52:57","guid":{"rendered":"http:\/\/pthat.com\/?post_type=project&p=3933"},"modified":"2026-03-24T15:02:53","modified_gmt":"2026-03-24T15:02:53","slug":"pthat-example-introduction","status":"publish","type":"project","link":"https:\/\/pthat.com\/index.php\/project\/pthat-example-introduction\/","title":{"rendered":"PTHAT Introduction using Instant Commands"},"content":{"rendered":"

[et_pb_section fb_built=”1″ fullwidth=”on” custom_padding_last_edited=”on|desktop” admin_label=”Section” _builder_version=”4.16″ background_color=”#27323a” custom_padding_tablet=”50px|0|50px|0″ custom_padding_phone=”50px|0|50px|0″ transparent_background=”off” padding_mobile=”off” make_fullwidth=”off” use_custom_width=”off” width_unit=”on” global_colors_info=”{}”][et_pb_fullwidth_header title=”PTHAT Introduction using Instant Commands” text_orientation=”center” content_max_width=”none” title_font_color=”#ffffff” admin_label=”Fullwidth Header” _builder_version=”4.16″ title_text_color=”#ffffff” title_font_size=”60″ background_color=”rgba(255, 255, 255, 0)” button_one_letter_spacing_hover=”0″ button_two_letter_spacing_hover=”0″ global_colors_info=”{}” button_one_text_size__hover_enabled=”off” button_two_text_size__hover_enabled=”off” button_one_text_color__hover_enabled=”off” button_two_text_color__hover_enabled=”off” button_one_border_width__hover_enabled=”off” button_two_border_width__hover_enabled=”off” button_one_border_color__hover_enabled=”off” button_two_border_color__hover_enabled=”off” button_one_border_radius__hover_enabled=”off” button_two_border_radius__hover_enabled=”off” button_one_letter_spacing__hover_enabled=”on” button_one_letter_spacing__hover=”0″ button_two_letter_spacing__hover_enabled=”on” button_two_letter_spacing__hover=”0″ button_one_bg_color__hover_enabled=”off” button_two_bg_color__hover_enabled=”off”][\/et_pb_fullwidth_header][\/et_pb_section][et_pb_section fb_built=”1″ custom_padding_last_edited=”on|desktop” admin_label=”section” _builder_version=”4.16″ background_color=”#313f55″ custom_padding_tablet=”50px|0|50px|0″ custom_padding_phone=”50px|0|50px|0″ transparent_background=”off” padding_mobile=”off” make_fullwidth=”off” use_custom_width=”off” width_unit=”on” global_colors_info=”{}”][et_pb_row column_structure=”1_2,1_2″ admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}”][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Text” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” background_layout=”dark” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]This is a test rig we built for when we were developing the code.<\/span><\/p>\n

It allows us to test all 4 channels of the PTHAT by sending the pulses to stepper drivers, that were connected to small Nema 17 motors. It also has all the limit switch inputs brought out to switches, the ADC inputs connect to 10K pots and AUX outputs connected to LED’s.<\/span><\/p>\n

We decided to use low cost stepper drivers that are usually found in 3D printers as they are not brilliant, but do the job. Our thinking is if the PTHAT can control these noisy little drivers, then handling the more expensive drivers would be easier!<\/span><\/p>\n

Usually with stepper motors to get higher speeds, you would take the motor voltage up to 35 volts, but we have left the supply at 24 volts to show that the clean pulses produced by the PTHAT overcomes a lot of issues that sometimes can be seen with noisy, dirty pulses.<\/span>
\n[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_image src=”https:\/\/pthat.com\/wp-content\/uploads\/2017\/02\/P1070027.jpg” align_tablet=”center” align_phone=”center” align_last_edited=”on|desktop” admin_label=”Image” _builder_version=”4.16″ animation_style=”slide” animation_direction=”left” animation_duration=”500ms” animation_intensity_slide=”10%” use_border_color=”off” border_color=”#ffffff” border_style=”solid” animation=”left” sticky=”off” always_center_on_mobile=”on” global_colors_info=”{}”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row column_structure=”1_2,1_2″ admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}”][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Text” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” background_layout=”dark” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]We have covered the example application in more detail on the Raspberry PI page<\/a> with more screen shots, but also the video below shows it in action.<\/span><\/p>\n

Commands used in this example are:<\/span><\/p>\nSet Axis Command
\n<\/span>
\n<\/span>\nStart Axis Command
\n<\/span>
\n<\/span>\nStop Axis Command
\n<\/span>
\n<\/span>\nPause\/Resume Axis Command
\n<\/span>
\n<\/span>\nRequest Current Pulse Count Command
\n<\/span>
\n<\/span>\nRequest ADC Reading Command
\n<\/span>
\n<\/span>\nSet Aux Output Command
\n<\/span>
\n<\/span>\nTurn On\/Off Received Command Replies
\n<\/span>
\n<\/span>\nTurn On\/Off Completed Command Replies
\n<\/span>
\n<\/span>\nRequest Firmware Version
\n<\/span>
\n<\/span>\n

Reset PTHAT
\n<\/span>
\n<\/span>
\n[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_image src=”https:\/\/pthat.com\/wp-content\/uploads\/2016\/12\/pthat-screen1.jpg” align_tablet=”center” align_phone=”center” align_last_edited=”on|desktop” admin_label=”Image” _builder_version=”4.16″ animation_style=”slide” animation_direction=”left” animation_duration=”500ms” animation_intensity_slide=”10%” use_border_color=”off” border_color=”#ffffff” border_style=”solid” animation=”left” sticky=”off” always_center_on_mobile=”on” global_colors_info=”{}”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row column_structure=”1_2,1_2″ admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}”][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Video” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]