Serout to serial servo

[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]

[mackrackit]

Joe and I must be good!!! You went from not being able to make an LED blink to having the leg move very quickly

Take a look at the flow of your code.

I see it GOSUBing right to END. I do not see any place that LOOPs.

[azmax100]

The code is for the left and right leg. I am using gosub to make the leg move in different angle.
I am not sure either this is the correct way but I am just trying a lot of time to makes thing correct.

The angle of the leg move up to gosub R2a then it stall. The servo is holding the position and not moving to other angle.

Am I doing the right thing?

One more thing. I got this when I compiled the code -

Warn Isobot1.ASM 893 :[102] code cross bounadry @800h
Warn Isobot1.ASM 1549 :[102] code cross bounadry @1000h


What is that mean.

[mackrackit]

One of your questions and maybe future questions is answered here.
http://www.picbasic.co.uk/forum/showthread.php?t=11116

your code.

If that is just the leg routine and you have more then I do not see a problem there. And with it only getting part way through it....

Kind of sounds like it good be a power supply problem causing a brown out. Can you monitor the voltage coming into the PIC? Maybe add if you do not have one a capacitor or two between VSS and VDD.

At this point a schematic, configs and the whole code might help us figure it out. I am guessing you did rewrite this as Joe suggested and loose the BS2 stuff?

[Archangel]

I am guessing you did rewrite this as Joe suggested and loose the BS2 stuff?

He didn't remove the include "BS2 stuff" and replace it with include "modedefs.bas" but he is using PBP nomenclature now. He is getting there.

[mackrackit]

I glossed over the part about being a trouble. Everything Joe said and I will add...
Pick a subject that you " think" you know. Then find someone that wants to learn it. Try teaching them or help them with a problem. You will quickly find out how much you really know. May not be as much as you thought.

For me this forum is a learning tool. So keep trying new things and share your problems.

[azmax100]

Hi,

Sorry for late reply.

I check the batteries in fact I fully charge it and try it again with additional
main: in the code but the problem remain the same.

Actually I am hacking an Isobot Robot.

Here's the video:

By the way thanks to all who answered to this forum.

[Archangel]

I am very sorry to trouble you people with my problem. I really appreciate your help.

Wow, do not be sorry, it is a challenge, not a trouble, if we were not happy to help, we would not do it.
You have the code tags reversed, that is why they did not work for you, the [/code] goes after the code

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.

I agree with Dave, make sure to bypass the power supply line going to the servos, I would put a capacitor at each servo's connection.

I see it GOSUBing right to END. I do not see any place that LOOPs.

Again I agree with Dave, your code executes to the end and has nowhere to go, put a label ( main: ) before your sub directories and a goto main after them or a goto somewhere else you want it to go, you need some kind of loop that checks for YOUR input, since this robot will likely be under Your control. I understand this is just 1 legs control software, but until it becomes just a part of a larger program, it should have some way back to you, yes the returns should do it everytime, but it only cost a word or 2 to have the insurance policy.
Try your PIC on a separate power supply (batteries) from your servos, as Dave pointed out it may be browning out or just getting a bunch of hash from the servos into it's power input.