Serout to serial servo

[azmax100]

Hi,

I need to send serial protocol to serial servo. I have success with BS2 and want to transfer to PIC as it has more memory.
But I cant make the servo moving using Picbasic Pro.

I am doing this for a humanoid robot.

I am using PIC 16F877A for testing.

Please Help.

Here I include my BS2 code and Picbasic code.

BS2 code
[QUOTE]
' {$STAMP BS2}
' {$PBASIC 2.5}



Lleg CON 8

PAUSE 1000

SEROUT Lleg,396,[255,5,0,101,181,154,00,186]
SEROUT Lleg,396,[255,5,125,101,181,154,126,182]
SEROUT Lleg,396,[255,5,124,101,181,154,125,180]
SEROUT Lleg,396,[255,5,124,101,181,154,124,179]
SEROUT Lleg,396,[255,5,123,101,181,154,124,178]'
SEROUT Lleg,396,[255,5,123,101,181,154,123,177]
SEROUT Lleg,396,[255,5,122,101,181,154,122,175]
SEROUT Lleg,396,[255,5,121,101,181,154,122,174]
SEROUT Lleg,396,[255,5,121,101,181,154,121,173]
SEROUT Lleg,396,[255,5,120,101,181,154,120,171]
SEROUT Lleg,396,[255,5,120,101,181,154,120,171]
SEROUT Lleg,396,[255,5,119,101,181,154,119,169]
SEROUT Lleg,396,[255,5,118,101,181,154,118,167]
SEROUT Lleg,396,[255,5,116,102,182,154,118,167]
SEROUT Lleg,396,[255,5,113,103,184,154,118,167]
SEROUT Lleg,396,[255,5,111,103,184,154,118,165]
SEROUT Lleg,396,[255,5,110,103,184,154,118,166]
SEROUT Lleg,396,[255,5,109,103,184,154,118,165]
SEROUT Lleg,396,[255,5,107,103,184,154,118,163]
SEROUT Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT Lleg,396,[255,5,120,73,184,154,120,146]/QUOTE]



Picbasic Pro Code:
[QUOTE]
include "BS2DEFS.bas"
DEFINE OSC 20
DEFINE SER2_BITS 8
OPTION_REG.7 = 0
Trisb = %00000000 'Setup port b as all outputs
Lleg Var portb.0

PAUSE 1000

SEROUT2 Lleg,396,[255,5,125,101,181,154,126,182]' B6 'repeated 7X,
SEROUT2 Lleg,396,[255,5,124,101,181,154,125,180]' B4 'raise leg at hip
SEROUT2 Lleg,396,[255,5,124,101,181,154,124,179]' B3
SEROUT2 Lleg,396,[255,5,123,101,181,154,124,178]' B2
SEROUT2 Lleg,396,[255,5,123,101,181,154,123,177]' B1
SEROUT2 Lleg,396,[255,5,122,101,181,154,122,175]' AF
SEROUT2 Lleg,396,[255,5,121,101,181,154,122,174] ' AE
SEROUT2 Lleg,396,[255,5,121,101,181,154,121,173]' AD
SEROUT2 Lleg,396,[255,5,120,101,181,154,120,171]' AB
SEROUT2 Lleg,396,[255,5,120,101,181,154,120,171]' AB
SEROUT2 Lleg,396,[255,5,119,101,181,154,119,169]' A9
SEROUT2 Lleg,396,[255,5,118,101,181,154,118,167]' A7 ' repeated 16X
SEROUT2 Lleg,396,[255,5,116,102,182,154,118,167] 'other joints begin motion
SEROUT2 Lleg,396,[255,5,113,103,184,154,118,167]' A7
SEROUT2 Lleg,396,[255,5,111,103,184,154,118,165]
SEROUT2 Lleg,396,[255,5,110,103,184,154,118,166]
SEROUT2 Lleg,396,[255,5,109,103,184,154,118,165]
SEROUT2 Lleg,396,[255,5,107,103,184,154,118,163]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146] ' 73 second servo
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]/QUOTE]

[aratti]

With OPTION_REG.7 = 0 you have enabled the Weak Pull-UP's and this could disturb the serial connection.

Tray this code:

INCLUDE "BS2DEFS.bas"
DEFINE OSC 20

ADCON1 = 7           ' all digitals
CMCON = 7            ' all digitals

TrisB = %00000000 'Setup port b as all outputs
Lleg Var portB.0

PAUSE 1000

SEROUT2 Lleg,396,[255,5,125,101,181,154,126,182]' B6 'repeated 7X,
SEROUT2 Lleg,396,[255,5,124,101,181,154,125,180]' B4 'raise leg at hip
SEROUT2 Lleg,396,[255,5,124,101,181,154,124,179]' B3
SEROUT2 Lleg,396,[255,5,123,101,181,154,124,178]' B2
SEROUT2 Lleg,396,[255,5,123,101,181,154,123,177]' B1
SEROUT2 Lleg,396,[255,5,122,101,181,154,122,175]' AF
SEROUT2 Lleg,396,[255,5,121,101,181,154,122,174] ' AE
SEROUT2 Lleg,396,[255,5,121,101,181,154,121,173]' AD
SEROUT2 Lleg,396,[255,5,120,101,181,154,120,171]' AB
SEROUT2 Lleg,396,[255,5,120,101,181,154,120,171]' AB
SEROUT2 Lleg,396,[255,5,119,101,181,154,119,169]' A9
SEROUT2 Lleg,396,[255,5,118,101,181,154,118,167]' A7 ' repeated 16X
SEROUT2 Lleg,396,[255,5,116,102,182,154,118,167] 'other joints begin motion
SEROUT2 Lleg,396,[255,5,113,103,184,154,118,167]' A7
SEROUT2 Lleg,396,[255,5,111,103,184,154,118,165]
SEROUT2 Lleg,396,[255,5,110,103,184,154,118,166]
SEROUT2 Lleg,396,[255,5,109,103,184,154,118,165]
SEROUT2 Lleg,396,[255,5,107,103,184,154,118,163]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146] ' 73 second servo
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]
SEROUT2 Lleg,396,[255,5,120,73,184,154,120,146]

......... and see if it works.

Al.

[azmax100]

Hi Mr aratti,

I've tried the code but still didn't work.

I can do it easily with BS2 but it seem difficult with Pic. It's almost the same between Pbasic(BS2) and Picbasic Pro(Pic) but yet its not working.

[aratti]

Tray adding a pace delay (see pag 140 PBP manual) number represent milliseconds delay between characters.

example:

SEROUT2 Lleg,396,1,[255,5,125,101,181,154,126,182]' B6 'repeated 7X,

This will delay 1 millisecond, perhaps you will need it longer.

Al.

[azmax100]

Still can't get it to work.

Any other suggestion?

I really need help from forum members.

[mackrackit]

I have to ask. Can you make an LED blink with the correct timing?
What do you get if you connect the PIC to a terminal? Is it sending anything?