I think it's a good call, I want to think I bumbled around and had the same overrun problem when I first wrote code for servos. Problem is I have to learn everything several times before I can remember it now days.
Re: Serial Timeout Strange Issues
I think it's a good call, I want to think I bumbled around and had the same overrun problem when I first wrote code for servos. Problem is I have to learn everything several times before I can remember it now days.
If you do not believe in MAGIC, Consider how currency has value simply by printing it, and is then traded for real assets.
.
Gold is the money of kings, silver is the money of gentlemen, barter is the money of peasants - but debt is the money of slaves
.
There simply is no "Happy Spam" If you do it you will disappear from this forum.
Re: Serial Timeout Strange Issues
This is the main routine that sends the data to the 3 receivers on 3 separate lines.
This is the receiver I am using. The three receivers all use the same code.Code:Clear @ DEVICE pic16F684, WDT_OFF adcon0 = 7 adcon1 = 7 ansel = 0 define OSC 4 trisc = %000111 define CHAR_PACING 1000 t1 var byte[6] 'angle of servo at body joint t2 var byte[6] 'angle of servo at leg t3 var byte[6] 'angle of servo at thigh i var byte start var byte ender var byte a var byte k var byte j var byte l var word rec var byte control var byte sta var byte fin var byte ste var byte control = 0 speed var byte rec = 0 Init: For i = 0 to 5 t2[i] = 110 t3[i] = 110 t1[i] = 90 next i Gosub Send Main: 'Main makes the robot sit then stand then step forward 5 times ' and then turn 5 times and then backward 5 times then sit. For l = 0 to 1 gosub sit next l for l = 0 to 1000 pauseus 1 next l For l = 0 to 1 gosub stand next l for l = 0 to 1000 pauseus 1 next l For l = 0 to 5 speed = 2 gosub forward2 next l for l = 0 to 5 speed = 2 gosub turn next l for l = 0 to 5 speed = - 2 gosub Backward next l for l = 0 to 1 gosub sit next l while 0 = 0 'robot remains sitting indefinately wend goto main Forward2: 'moves every leg individualy forward while the rest move backward slowly. For i = 0 to 5 step 1 t2[i] = 130 t3[i] = 130 porta.3 = 0 for j = 0 to 5 step 1 For k = 0 to 50 pauseus 1 next k select case i case 0 t1[0] = t1[0] + 5 * speed t1[1] = t1[1] - speed t1[2] = t1[2] - speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed Case 1 t1[0] = t1[0] - speed t1[1] = t1[1] + 5 * speed t1[2] = t1[2] - speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 2 t1[0] = t1[0] - speed t1[1] = t1[1] - speed t1[2] = t1[2] + 5 * speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 3 t1[0] = t1[0] - speed t1[1] = t1[1] - speed t1[2] = t1[2] - speed t1[3] = t1[3] + 5 * speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 4 t1[0] = t1[0] - speed t1[1] = t1[1] - speed t1[2] = t1[2] - speed t1[3] = t1[3] - speed t1[4] = t1[4] + 5 * speed t1[5] = t1[5] - speed case 5 t1[0] = t1[0] - speed t1[1] = t1[1] - speed t1[2] = t1[2] - speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] + 5 * speed end select Gosub Send 'goes to the serout2 routines sending the position of the legs (t1 t2 and t3) next j t2[i] = 110 t3[i] = 110 Gosub Send next i return Backward: 'basically the same as forward but in reverse. For i = 5 to 0 step - 1 t2[i] = 130 t3[i] = 130 porta.3 = 0 for j = 0 to 5 step 1 For k = 0 to 50 pauseus 1 next k select case i case 0 t1[0] = t1[0] + 5 * speed t1[1] = t1[1] - speed t1[2] = t1[2] - speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed Case 1 t1[0] = t1[0] - speed t1[1] = t1[1] + 5 * speed t1[2] = t1[2] - speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 2 t1[0] = t1[0] - speed t1[1] = t1[1] - speed t1[2] = t1[2] + 5 * speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 3 t1[0] = t1[0] - speed t1[1] = t1[1] - speed t1[2] = t1[2] - speed t1[3] = t1[3] + 5 * speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 4 t1[0] = t1[0] - speed t1[1] = t1[1] - speed t1[2] = t1[2] - speed t1[3] = t1[3] - speed t1[4] = t1[4] + 5 * speed t1[5] = t1[5] - speed case 5 t1[0] = t1[0] - speed t1[1] = t1[1] - speed t1[2] = t1[2] - speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] + 5 * speed end select Gosub Send next j t2[i] = 110 t3[i] = 110 Gosub Send next i return Turn: 'similar to others but changes the direction of a side. For i = 5 to 0 step - 1 t2[i] = 130 t3[i] = 130 porta.3 = 0 for j = 0 to 5 step 1 For k = 0 to 50 pauseus 1 next k select case i case 0 t1[0] = t1[0] - 5 * speed t1[1] = t1[1] + speed t1[2] = t1[2] + speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed Case 1 t1[0] = t1[0] + speed t1[1] = t1[1] - 5 * speed t1[2] = t1[2] + speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 2 t1[0] = t1[0] + speed t1[1] = t1[1] + speed t1[2] = t1[2] - 5 * speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 3 t1[0] = t1[0] + speed t1[1] = t1[1] + speed t1[2] = t1[2] + speed t1[3] = t1[3] + 5 * speed t1[4] = t1[4] - speed t1[5] = t1[5] - speed case 4 t1[0] = t1[0] + speed t1[1] = t1[1] + speed t1[2] = t1[2] + speed t1[3] = t1[3] - speed t1[4] = t1[4] + 5 * speed t1[5] = t1[5] - speed case 5 t1[0] = t1[0] + speed t1[1] = t1[1] + speed t1[2] = t1[2] + speed t1[3] = t1[3] - speed t1[4] = t1[4] - speed t1[5] = t1[5] + 5 * speed end select Gosub Send next j t2[i] = 110 t3[i] = 110 Gosub Send next i return sit: 'makes the legs go up to set the robot down. while t3[0] < 175 t3[0] = t3[0] + 2 t2[0] = t2[0] + 1 t3[1] = t3[1] + 2 t2[1] = t2[1] + 1 t3[2] = t3[2] + 2 t2[2] = t2[2] + 1 t3[3] = t3[3] + 2 t2[3] = t2[3] + 1 t3[4] = t3[4] + 2 t2[4] = t2[4] + 1 t3[5] = t3[5] + 2 t2[5] = t2[5] + 1 Gosub Send wend return Stand: 'makes legs go down to stand robot up while t3[0] > 110 t3[0] = t3[0] - 2 t2[0] = t2[0] - 1 t3[1] = t3[1] - 2 t2[1] = t2[1] - 1 t3[2] = t3[2] - 2 t2[2] = t2[2] - 1 t3[3] = t3[3] - 2 t2[3] = t2[3] - 1 t3[4] = t3[4] - 2 t2[4] = t2[4] - 1 t3[5] = t3[5] - 2 t2[5] = t2[5] - 1 Gosub Send wend return Send: 'the send routine sends t1,t2,and t3 to the 3 servo controllers. While portc.0 = 1 wend serout2 portc.3,32852,["@", STR t1\6] While portc.2 = 1 wend serout2 portc.4,32852,["@", STR t2\6] while portc.1 = 1 wend serout2 portc.5,32852,["@", STR t3\6] Return end
Sorry for the delay, I have been busy and I wanted a chance to comment a little. Any questions please ask. Any suggestions please post!Code:'**************************************************************** '* Name : Hexapod.BAS * '* Author : Corbet Peters * '* Notice : Copyright (c) 2011 * '* : All Rights Reserved * '* Date : 4/26/2011 * '* Version : 1.0 * '* Notes : * '* : * '**************************************************************** Clear @ DEVICE pic16F84, WDT_OFF define osc 4 trisa = %000000 trisb = $00 low portb t1pulse var byte[6] servos var portb servos[0] = portb.1 servos[1] = portb.2 servos[2] = portb.3 servos[3] = portb.4 servos[4] = portb.5 servos[5] = portb.6 t1pulse[0] = 90 t1pulse[1] = 90 t1pulse[2] = 90 t1pulse[3] = 90 t1pulse[4] = 90 t1pulse[5] = 90 porta.1 = 1 porta.2 = 0 trisa.3 = 1 i var byte Main: porta.2 = 0 'turns on a transistor that brings pin on sender high 'to stop it from sending the serial porta.2 = 1 'turns transistor on to bring sender pin low to 'tell sender to send pulsout portb.3, t1pulse[0]+60 pulsout portb.2, t1pulse[1]+60 pulsout portb.1, t1pulse[2]+60 pulsout portb.4, 240 - t1pulse[3] pulsout portb.5, 240 - t1pulse[4] pulsout portb.6, 240 - t1pulse[5] pulsout portb.7, 240 - t1pulse[5] Serin2 porta.3,32852,10,comfail,[wait ("@"), str t1pulse\6] 'if timeout length ' is longer than the time between the sends 'on the sender, this line hangs up and chip 'acts weird like turning porta.2 on but not ' sending the pulses or turn on servo pins ' and never turn off porta.2 = 0 'tell sender to stop sending goto main 'loop to main Comfail: porta.2 = 0 goto main
Last edited by Archangel; - 14th June 2011 at 18:02. Reason: [code]please use code tags[/code]
Re: Serial Timeout Strange Issues
Just 1 question . . . Does it work now, or do you still have the same problem ?
If you do not believe in MAGIC, Consider how currency has value simply by printing it, and is then traded for real assets.
.
Gold is the money of kings, silver is the money of gentlemen, barter is the money of peasants - but debt is the money of slaves
.
There simply is no "Happy Spam" If you do it you will disappear from this forum.
Re: Serial Timeout Strange Issues
Sorry about the formatting. It doesn't work right now. The seperate movement routines work but the serial doesn't. I can make it work with a timer interrupt but it refreshes about every 25 to 30 ms which is too long and makes the servos weak. I want the servo controllers to wait for a signal from the main and if it does't get one in time then I want it to refresh using the same position.
Re: Serial Timeout Strange Issues
Hi Corbet, have you tried changing your byte values to word, just to see if you are overloading your bytes as Dave suggested ?
You could make redundant variables and store your current var value as a backup and then compare your new values to them and if out of range then restore from them. Something like:
psuedocode
If time critical serial is too slow then you should switch to HSERIN which will receive via hardware while loop does it's thing.Code:serin . . . t1pulse dummy1 = t1pulse pulseout . . . t1pulse serin . . . t1pulse if t1pulse >255 then t1pulse = dummy1 ' restore previous value pulseout . . .
A nice buffer is featured in the Article about "Serial Backpack LCDs" This Thread was promoted to an article based upon one my early posts seeking help to make a serial LCD as I am TOO CHEAP to lay out 35 to 50 bucks a pop for them.
You could also Increase your clock speed to 20mhz and increase the baud rate WAY UP so as to execute the loops faster. It uses a little more power though. Bit Bang serial is a Time Hog, of them Debug seems the fastest, uses serout2 syntax too.
Last edited by Archangel; - 15th June 2011 at 03:53. Reason: [code] this is how to use code tags [/code]
If you do not believe in MAGIC, Consider how currency has value simply by printing it, and is then traded for real assets.
.
Gold is the money of kings, silver is the money of gentlemen, barter is the money of peasants - but debt is the money of slaves
.
There simply is no "Happy Spam" If you do it you will disappear from this forum.
Members who have read this thread : 1You do not have permission to view the list of names.
Posting Permissions
Bookmarks