Serout to serial servo

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  1. - 29th July 2009, 16:40 #10
    azmax100's Avatar
    azmax100
    azmax100 is offline Junior Member
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    I am very sorry to trouble you people with my problem. I really appreciate your help.
    Now I can make the leg moving but after three or four move it will stall. It's seem like I have to off and on the signal voltage to make it move smoothly. I don't know what happen.
    This is my first time with serial servo and humanoid.

    here is my code:
    [/CODE]

    include "BS2DEFS.bas"

    @ DEVICE HS_OSC ' System Clock options
    @ DEVICE LVP_OFF ' Low-Voltage Programming

    DEFINE OSC 20
    ADCON1 = 7 ' all digitals
    CMCON = 7 ' all digitals

    TrisB = %00000000 'Setup port b as all outputs
    Trisd = %00000000
    PortB = %00000000
    PortD = %00000000

    Rleg var portb.2
    Lleg Var portd.1




    pause 1000



    PAUSE 1000
    GOSUB Stand
    GOSUB PostR
    gosub R1a
    pause 1000
    gosub R2a
    pause 1000
    gosub R3a
    pause 1000
    gosub R4a
    pause 1000
    gosub R5a
    pause 1000
    gosub R6a
    pause 1000
    end
    R1a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,90,110,161,144,145,145]
    SEROUT2 Lleg,396,20,[255,5,90,110,161,144,145,145]
    SEROUT2 Lleg,396,20,[255,5,90,110,161,144,145,145]
    SEROUT2 Lleg,396,20,[255,5,90,110,161,144,145,145]
    SEROUT2 Lleg,396,20,[255,5,90,110,161,144,145,145]
    SEROUT2 Lleg,396,20,[255,5,90,110,161,144,145,145]
    SEROUT2 Lleg,396,20,[255,5,90,110,161,144,145,145]
    PAUSE 500
    return

    R2a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,40,110,161,144,145,95]
    SEROUT2 Lleg,396,20,[255,5,40,110,161,144,145,95]
    SEROUT2 Lleg,396,20,[255,5,40,110,161,144,145,95]
    SEROUT2 Lleg,396,20,[255,5,40,110,161,144,145,95]
    SEROUT2 Lleg,396,20,[255,5,40,110,161,144,145,95]
    SEROUT2 Lleg,396,20,[255,5,40,110,161,144,145,95]
    PAUSE 500
    return

    R3a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,150,145,94,111,120,115]
    SEROUT2 Rleg,396,20,[255,5,150,145,94,111,120,115]
    SEROUT2 Lleg,396,20,[255,5,40,150,161,144,145,135]
    SEROUT2 Lleg,396,20,[255,5,40,150,161,144,145,135]
    SEROUT2 Lleg,396,20,[255,5,40,150,161,144,145,135]
    SEROUT2 Lleg,396,20,[255,5,40,150,161,144,145,135]
    SEROUT2 Lleg,396,20,[255,5,40,150,161,144,145,135]
    SEROUT2 Lleg,396,20,[255,5,40,150,161,144,145,135]
    SEROUT2 Lleg,396,20,[255,5,40,150,161,144,145,135]
    PAUSE 500
    return

    R4a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,40,60,131,144,145,15]
    SEROUT2 Lleg,396,20,[255,5,40,60,131,144,145,15]
    SEROUT2 Lleg,396,20,[255,5,40,60,131,144,145,15]
    SEROUT2 Lleg,396,20,[255,5,40,60,131,144,145,15]
    SEROUT2 Lleg,396,20,[255,5,40,60,131,144,145,15]
    SEROUT2 Lleg,396,20,[255,5,40,60,131,144,145,15]
    SEROUT2 Lleg,396,20,[255,5,40,60,131,144,145,15]
    PAUSE 500
    return
    R5a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    PAUSE 1000
    Return
    R6a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,94,145,55]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,94,145,55]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,94,145,55]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,94,145,55]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,94,145,55]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,94,145,55]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,94,145,55]
    PAUSE 1000
    Return
    R7a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    PAUSE 1000
    Return
    R8a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,105,65]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,105,65]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,105,65]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,105,65]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,105,65]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,105,65]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,105,65]
    PAUSE 1000
    return
    R9a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    SEROUT2 Lleg,396,20,[255,5,50,110,161,144,145,105]
    PAUSE 1000
    return
    R10a:
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Lleg,396,20,[255,5,140,110,161,144,120,170]
    SEROUT2 Lleg,396,20,[255,5,140,110,161,144,120,170]
    SEROUT2 Lleg,396,20,[255,5,140,110,161,144,120,170]
    SEROUT2 Lleg,396,20,[255,5,140,110,161,144,120,170]
    SEROUT2 Lleg,396,20,[255,5,140,110,161,144,120,170]
    SEROUT2 Lleg,396,20,[255,5,140,110,161,144,120,170]
    SEROUT2 Lleg,396,20,[255,5,140,110,161,144,120,170]
    PAUSE 1000
    return

    Stand:
    SEROUT2 Lleg,396,20,[255,5,125,110,161,144,120,155]
    SEROUT2 Lleg,396,20,[255,5,125,110,161,144,120,155]
    SEROUT2 Lleg,396,20,[255,5,125,110,161,144,120,155]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,135,110]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,135,110]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,135,110]
    PAUSE 1000
    RETURN

    PostR:
    SEROUT2 Lleg,396,20,[255,5,130,110,161,144,110,150]
    SEROUT2 Lleg,396,20,[255,5,130,110,161,144,110,150]
    SEROUT2 Lleg,396,20,[255,5,130,110,161,144,110,150]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    SEROUT2 Rleg,396,20,[255,5,130,145,94,111,110,85]
    PAUSE 1000
    RETURN



    [CODE]
    Last edited by azmax100; - 29th July 2009 at 16:43.
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