|
Worked for me
Originally Posted by mackrackit :
I just drove home trying to simulate Ken's car. Pulsed the same degrees left or right, more pulses left or right for turns but always the same, say 5 degrees off center, and after each pulse returned to center.
Dave
Always wear safety glasses while programming.
|
GEE, I thought no one was listening - LOL
-Bert
The glass is not half full or half empty, Its twice as big as needed for the job!
http://foamcasualty.com/ - Warbird R/C scratch building with foam!
|
Your full size scale car has toe in and caster....
My toy car has neither toe in nor caster. But it should be able to react. It does not. If you are in a helping mood here is both a (disappointing) video, and a pointer to my code.
http://www.employees.org/~kjones/ToyCarKickTurn3.htm
Could the PIC be resetting? Am in a looping loop? The whole thing is only 503 words compiled. My guess is that I am not seeing something that right in front of my eyes...
Ken
|
Wondering if the part in RED is causing the trouble? If it were eliminated and sent to
CheckIfInDanger:
after
keepreversing:
was satisfied???
Code:keepreversing: WHILE rangefront < stopreversing ' We have not reversed far enough HIGH stopgo 'go LOW forrev 'back GOSUB triggers WEND '------------------------------------ 'done reversing. Go straight or turn left depending on right 'ping. If > outertrack then out in the middle. If < desiredtrack 'then stuck on wall. IF rangeright > desiredtrack THEN 'steer left LOW turnon 'steer HIGH steerto 'left steeringstate = 1 HIGH stopgo 'go HIGH forrev 'forward PAUSE 500 'hpwm 2,Forward,50 --Already going Forward ENDIF GOTO main
Dave
Always wear safety glasses while programming.
|
Seems to work OKAY on the bench
Went to bed last night puzzled.
Checked the car (untouched since disastrous demo yesterday) on the bench. Seemed to react correctly and quickly. The stimuli are my hands moving as quickly as I can make them.
Hmmmm.....
|
This must be the looping triggers section
Could it be that somehow this tight loop eliminates the ability to react to the front SONAR. The video shows the car stuck against the wall in total silence with the front LED constantly on. This WHILE loop could cause that if somehow the two drive motor instructions were being short changed. Maybe I need a PAUSE in here. It would do no harm.
Code:keepreversing: WHILE rangefront < stopreversing ' We have not reversed far enough HIGH stopgo 'go LOW forrev 'back GOSUB triggers WEND
|
Success!!
Take a look at:
Please tell me what you think.
Ken
Members who have read this thread : 0You do not have permission to view the list of names.
Posting Permissions
Bookmarks