Serout to serial servo

[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?

[azmax100]

I just found out that I can't even make an Led to blink. Maybe there's a problem with the Pic itself. I will try to use another Pic this evening and try again with the code provide by arati.

[Archangel]

I just found out that I can't even make an Led to blink. Maybe there's a problem with the Pic itself. I will try to use another Pic this evening and try again with the code provide by arati.

Hi azmax100,
Let's pretend we never used a BS2, and we are using just PICs, and lose Include BS2Defs . . . and all their hokey renaming of ports cause it really just confuses hell out of me anyway.
Go back to the basics, check your config settings, did you set tris and port registers properly, disable all the analog . . . does your chip have ansel, adcon, adcon1, adcon0, cmcon, cmcon0, cmcon1, . . . . Did you DEFINE OSC ? Does it match the config ? Is mclr or mclre enabled? If so do you have a pullup resistor ? Make sure the LED is not reverse biased (this is an issue, I have LEDs where the Anode is the long lead and I have LEDs where the cathode is the long lead). Is the power supply voltage correct and of sufficient power output? Is it filtered properly? Make sure LVP is disabled, until all is working, enable PWRTE and WDT

[mackrackit]

I just found out that I can't even make an Led to blink. Maybe there's a problem with the Pic itself. I will try to use another Pic this evening and try again with the code provide by arati.

I was afraid of that. So, like Joe said, lets start from scratch.

First, these are a must read:
http://www.picbasic.co.uk/forum/showthread.php?t=561
http://www.picbasic.co.uk/forum/showthread.php?t=562
http://www.picbasic.co.uk/forum/showthread.php?t=543

Now for the configs. In the PBP directory you will see *.inc files as the thread above talks about. Comment out the correct lines. Make it look like this.

    NOLIST
    ifdef PM_USED
        LIST
        include 'M16F87xA.INC'  ; PM header
     ;   device  pic16F877A, xt_osc, wdt_on, lvp_off, protect_off
        XALL
        NOLIST
    else
        LIST
        LIST p = 16F877A, r = dec, w = -302
        INCLUDE "P16F877A.INC"  ; MPASM  Header
   ;     __config _XT_OSC & _WDT_ON & _LVP_OFF & _CP_OFF
        NOLIST
    endif
        LIST

I will assume you are using Micro Code Studio. Make sure MPLAB is installed and have MCS set to use MPASM. This is not really needed for this PIC but in the future it will be so we will start off right. In MCS tool bar - View-Compiler and Program Options- then the Assembler tab. Check use MPASM.

Now for some basic code to see if all is working.

'16F877A       HEART_BEAT
    DEFINE OSC 20
'####################
    @ __config _HS_OSC & _WDT_OFF & _LVP_OFF & _CP_OFF &_BODEN_OFF
    ADCON1=7
    CMCON=7
    
START:
    HIGH PORTD.2
    PAUSE 100
    LOW PORTD.2
    PAUSE 100
    GOTO START

When the above is working we can do a simple serial output to a terminal. MCS has on built in.

[azmax100]

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]