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Ioannis,
I let PBP and MPLAB install to their default directories, but my actual code and related project files are kept here.
C:\MAC\My Dropbox\PIC PROGS\"project name here"
Cad/CNC files and such are in a sub directory of the above.
Another benefit from having an off site backup... My CNC machine's PC is also DropBoxed so the machine always has the latest files automatically.
No problems with the path, the path name is still under the length limit this way.
Dave
Always wear safety glasses while programming.
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Calling all Geeks......
Ladies and gentlemen - I am bamboozled. My 1/10 toy level car seems to be a bit confused also. Garbage in. Garbage out. The old give-no-quarter rule of programming. Is the issue response time? Is the issue inconsistent friction? Is the issue - no it couldn't be - my PBP code? I believe the electronics are consistent and the hookup wires are stable ( I used Silicone household sealant)
In the video I say, "As soon as it starts to turn right, it's in trouble." That now seems not to be the problem. After it successfully negotiates a corner-caused left turn and it is too close to the new wall, it turns left to get out to desiredtrack, but never straightens out.
The code is at: http://www.employees.org/~kjones/ToyCarKickTurn4.htm
Any insight would be greatly appreciated.
Ken
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my $.02
Its really cool!! It has come a long way, in a very positive way.
When its stuck, I see 2 distinct possibilities. the first time when the car was perpendiculer to the wall, my guess was it was too close, therefore the front sensor missed the echo. the second and third times, when it was trying to go forward into the wall, my guess is the angle was just right so as the reflection of the sonar bounced off the wall and kept going forward so the car thought it was all clear ahead.
One time towards the beginning it ran head on into the wall. it went straight back, I am not sure if it bounced or if the car said reverse.
Overall it seems like response time may be the issue. are you able to slow the car when the front is blocked and needs to turn? If so, maybe cut the speed to half when the front is blocked. then on the all clear go back to full ahead. I don't think the car is able to make the turn, check the front, check the side and continue forward.
-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!
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You might be absolutely correct.
I suppose an echo has a significant energy distribution pattern which is a function of the angle on incidence. I do not know the physics but it certainly seems reasonable.
Thank you!
Ken
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I don't know about all that, but if you stand at 1 focal point of a room made in an ellipse shape and wisper, someone standing at the other focal point can hear you clearly. Sonar is just sound, so it stands to reason it has to reflect like a pool ball.
-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!
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BATS
Bat navigation....
you are building a bat-car.
Dave
Always wear safety glasses while programming.
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Re: PBP projects for R/C models
Hello Ken,
Were you able to get your serial link going?
Walter
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You got it Ken. Your ICSP pins are RB7 and RB6. I think I have the definitions right for you. So you should be able to get it to talk pretty easy.
Last edited by ScaleRobotics; - 31st January 2011 at 01:54.
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Friction is sure a problem with your car along with others...
Try to increase the friction with this simple idea.
Cut from a kitchen glove the fingers and place the cut parts on your wheels. I think these will last for a test run, at least.
With the increased friction you will get over the overturning of the car.
Ioannis
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Two steps forward....
1. I cobbled together the working parts of two DELL 8600 lap tops and created one that works!! I installed the PBP tools and have a strong new battery. I will be able to modify my code in the building - sans electricity and heat - where I test.
2. I found that putting a cardboard right up to the front SONAR makes it behave as if there is nothing within range. Sooo up real close is far away as far as it is concerned.
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Science, Technology, Engineering - not so much math
Got a new video to show you all. The code is much the same as the last time. I included it below.
The video speaks for itself. Would this be a good context for a public school engineering project? It certainly shows the real world as I know it. The kids could see whether they can make the car go around the room staying outside traffic cones which define the inside of the course.
Code:'************************************************* *************** SYMBOL trigright = PORTB.0 ' Define output pin for Trigger pulse SYMBOL trigfront = PORTB.1 ' Define output pin for Trigger pulse SYMBOL trigleft = PORTB.3 ' Define output pin for TRigger pulse SYMBOL echoright = PORTC.6 ' Define input pin for Echo pulse SYMBOL echofront = PORTC.5 ' Define input pin for Echo pulse SYMBOL echoleft = PORTC.7 ' Define input pin for Echo pulse SYMBOL radiotransmitterON = PORTC.4 ' Define input pin for Signal 'inside radio receiver indicatin that the transmitter has 'been turn on. Used to stop the car by turning ON the xmitter. TRISC = %11110000 DATA $1C,$B5'This version's checksum goes here. ' Speed of sound echo is about 2mS per foot distance. ' define pulsin_max 2800 '28mS SF05 spec says it drops at 30mS. ' don't forget channel 3 every 20mS or 50Hz. '-------------------- frontdanger CON 180 'about 12 inches. Was 450 about 30 inches stopreversing CON 390' about 26 inches frontfree CON 1080 'about 72 inches. Was 800 about 53 inches. desiredtrack CON 540 'about 36 inches. Now only one line. 'outertrack con 450 'about 30 inches. Was 360 about 24 inches SYMBOL turnon = PORTC.3 ' the signal that if HIGH makes the car steer straight SYMBOL steerto = PORTC.2 ' the signal that if on turning is on, then decides 'the direction SYMBOL stopgo =PORTC.1 ' the signal that if HIGH makes the car go SYMBOL forrev =PORTC.0 ' the signal that if on and is not on stop makes 'the car reverse '--------------------------- rangeleft VAR WORD 'experimental timing. rangeright VAR WORD rangefront VAR WORD oldrangeright VAR WORD oldrangefront VAR WORD CNTR VAR WORD CNTR = 0 CNTL VAR WORD CNTL = 0 steeringstate VAR WORD steeringstate = 0 ' 0=straight,1=left,2=right,3=skid left,4=rightback, '-------------- 'Looks like I need to kick the steering back into straight. LOW stopgo 'stop HIGH turnon 'pause 2000 'Wait so I can put the car down and get out of the way. main: GOSUB triggers CheckIfInDanger: IF (rangefront < frontdanger) AND (steeringstate <> 3) THEN HIGH stopgo 'go LOW forrev 'back LOW turnon 'steer LOW steerto 'right steeringstate = 4 GOTO reverseoutoftrouble ' loop till this is secured ENDIF tryleftturn: IF rangefront < frontfree THEN 'something ahead - turn hard left. 'gosub leftforward IF (steeringstate <> 3) THEN HIGH stopgo 'go LOW forrev 'reverse LOW turnon 'steer HIGH steerto 'left steeringstate = 3 'skid left PAUSE 150 ENDIF HIGH steerto 'left HIGH stopgo 'go HIGH forrev 'forward GOTO main 'Loop until secured ENDIF goingforward: keepgoingforward: IF (rangeright < desiredtrack) THEN 'steer left CNTL = (CNTL+1) IF CNTL = 2 THEN LOW turnon 'steer HIGH steerto 'left steeringstate = 1 HIGH stopgo 'go HIGH forrev 'forward CNTL = 0 ENDIF PAUSE 150 ENDIF IF (rangeright > desiredtrack)THEN 'steer right CNTR = (CNTR+1) IF CNTR = 2 THEN LOW turnon 'steer LOW steerto 'right steeringstate = 2 HIGH stopgo 'go HIGH forrev 'forward CNTR = 0 ENDIF PAUSE 150 ENDIF IF steeringstate = 1 THEN 'left LOW steerto 'right PAUSE 100 ENDIF IF steeringstate = 2 THEN 'right HIGH steerto 'left PAUSE 60 ENDIF HIGH turnon steeringstate = 0 GOTO main '------------------------- reverseoutoftrouble: ' below seems reduncant except for the pause. LOW turnon 'steer LOW steerto 'right steeringstate = 4 'new steeringstate HIGH stopgo 'go LOW forrev 'back PAUSE 200 'added to do some reversing. We have a problem of bumping 'against the wall and not backing up. This pause should fix that. keepreversing: WHILE (rangefront < stopreversing) OR ((oldrangefront = rangefront) AND (oldrangeright = rangeright)) ' We have not reversed far enough HIGH stopgo 'go LOW forrev 'back PAUSE 250 'maybe this will get car to back off wall 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. This did not work. See TOY_CAR_KICK_TURN_3.wmv 'Try no IF statement. 'if rangeright > desiredtrack then 'steer left LOW turnon 'steer HIGH steerto 'left steeringstate = 1 HIGH stopgo 'go HIGH forrev 'forward PAUSE 250 'hpwm 2,Forward,50 --Already going Forward 'endif GOTO main '-------------------------- triggers: ' Check two sonars and xmitter ON signal. oldrangeright = rangeright ' produce 10uS trigger pulse (must be minimum of 10uS) LOW trigright HIGH trigright HIGH trigright HIGH trigright LOW trigright 'zero could be legal below PULSIN echoright,1,rangeright 'measures the range in 10uS steps PAUSE 10 'Wait for ringing to stop - read SF05 spec. 'pulsin echoleft,1,rangeleft 'see if this slows the triggers to one 'per second. That it did, but it crashed straight into the wall. pulsf: oldrangefront = rangefront LOW trigfront HIGH trigfront HIGH trigfront HIGH trigfront LOW trigfront PULSIN echofront,1,rangefront ' measures the range in 10uS steps PAUSE 10 radioON: ' make ON = LOW for 1/10 toy car to radiotransmitter do WHILE radiotransmitterON = 0 LOW stopgo loop HIGH stopgo 'get going again RETURN END
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Since you will have a Laptop with you, how about getting telemetry data from your car to analyze them? Like echo, steering acceleration/braking.
Ioannis
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Re: PBP projects for R/C models
Maybe the folks on the MPLAB C32 Compiler forum can help: http://www.microchip.com/forums/f204.aspx
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Hello everybody, I'm back
I got the PICket 3 to program both my 16F887 and my 32MX460. That's fine, but I am not doing well with C. I have not programmed in C since 1992. In those days I was part of a large corporation that had a support staff.
rich, you mention rd0 - rd4 on the PIC32. I was hoping to see reference of that kind of hardware detail in the PIC32C User's Manual. Nope. No mention of a MACRO either. I have to read the PIC32 Data Sheet? Oh dear....
I am inclined to return to this forum and PICBASIC PRO and 16F887. To work with higher speeds my car needs to know better where it is and what it is doing. It needs some rate of approach calculations and a bit of trigonometry. It needs to increase the number of SONAR triggers per second and their attendant drive wheel and steering adjustments.
I have not pushed the limits of the 16F887. I am not sure how to find them.
Ken
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Hi Ioannis,
Yes, it takes TTL True, so Ken can do debug something like this for his setup:
Code:DEFINE DEBUG_REG PORTB 'This is set to match the ICSP pins DEFINE DEBUG_BIT 7 'PIC sends data to the PC on this pin DEFINE DEBUGIN_BIT 6 'Can be used to receive data from the PC DEFINE DEBUG_BAUD 38400 'This is the highest baud rate Pickit2 can handle 'It seems to work ok with my 8 mhz stuff and higher DEFINE DEBUG_MODE 0 'Sets debug to True levels (1 for inverted)
Last edited by ScaleRobotics; - 30th January 2011 at 22:08. Reason: Edited for Ken's hardware
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The pin assignments
My PICkit2 communicates with my PIC on its pins 4 and 5 already. Are you saying that after it is downloaded and running, my code can use the same USB wire to talk back to the PC? And I can display what it says using the DEBUG tool.
Ken
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As Walter stated, exactly that Ken!
So, this is a great tool. I wonder why Pickit3 does not support this handy idea.... Mysterious way Microchip works...
Ioannis
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Re: PBP projects for R/C models
Here are some of the ones I know about. However, nothing is quite like the real thing. Especially when timing is important.
See the bottom of the page.
http://www.picbasic.co.uk/forum/cont...ctronics-links
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How do PIC 16F887, PICBASIC PRO and Arduino relate?
Looks interesting, but I do not understand..... VBB says it is Arduino oriented.
"http://www.picbasic.co.uk/forum/content.php?r=95-Some-electronics-links" contains:
"http://www.virtualbreadboard.com free, nice graphics, some bugs, and some rebooting reported
Might work better with XP than newer Windows OS's."
Ken
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Re: PBP projects for R/C models
It's in there ... about 1/4 the way through.
Code:;**************************************************************** ;* HPWM : Output a pulse width modulated wave in hardware * ;* * ;* Input : W = channel 1 - 5 * ;* : R1 = frequency * ;* : R4 = duty cycle * ;* Output : None * ;* * ;* Notes : * ;****************************************************************
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You're correct. It is there!
I must have spelled HPWM wrong.
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Simulation??
PICs are often used for controls. Do you all know of any available simulation packages?
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