mixing joy stick

[Darrel Taylor]

Never had a Tank before. But it sounded like an interesting way to spend the evening.

It might do it all. Or it might blow a loogie.

DeadBandX  CON 10      ; center mechanical Dead Area
DeadBandY  CON 5
JoyX       VAR BYTE    ; A/D values from joystick
JoyY       VAR BYTE
TrimX      VAR BYTE
TrimY      VAR BYTE
Xcorr      VAR WORD    ; corrected values (x-128)
Ycorr      VAR WORD    ;   puts center at 0,0
Left       VAR WORD    ; Left Tread
Right      VAR WORD    ; Right Tread
LeftDir    VAR BIT     ; Tread directions  1 = backwards
RightDir   VAR BIT

Main:
    ADCIN 0, JoyX                            ; get Joystick values
    ADCIN 1, JoyY
    ADCIN 2, TrimX                           ; Joystick Center trims
    ADCIN 3, TrimY                           ;  set to 128 if not used
    
    Xcorr = JoyX - 128 + (TrimX >> 3) - 16   ; adjust center position to 0
    Ycorr = JoyY - 128 + (TrimY >> 3) - 16
    IF ABS(Xcorr) < DeadBandX THEN Xcorr = 0 ; center deadband
    IF ABS(Ycorr) < DeadBandY THEN Ycorr = 0

    Left  = Ycorr + Xcorr                    ; Mix Tread speeds 
    Right = Ycorr - Xcorr
     
    LeftDir = Left.15                        ; Tread Direction
    RightDir = Right.15                      ;  1 = backwards
    
    Left = ABS(Left)                         ; make values positive
    Right = ABS(Right)
    
    if Left > 127 then Left = 127            ; Clamp max outputs 
    if Right > 127 then Right = 127
    
    ; Drive motors here
    ; LeftDir indicates the direction of the Left tread
    ; Left is the Speed of the motor 0 - 127
    ; Same for Right Track
GOTO Main

[skimask]

Never had a Tank before. But it sounded like an interesting way to spend the evening.
It might do it all. Or it might blow a loogie.

What!?! You live in CA. and never had a tank?
Slick bit of code...not nearly enough colons in there, but slick nonetheless... I'm hanging on to it for future use.

[Darrel Taylor]

Here ya go ski. Is this better ...

::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
:DeadBandX  CON 10      ; center mechanical Dead Area                      :
:DeadBandY  CON 5                                                          :
:JoyX       VAR BYTE    ; A/D values from joystick                         :
:JoyY       VAR BYTE                                                       :
:TrimX      VAR BYTE                                                       :
:TrimY      VAR BYTE                                                       :
:Xcorr      VAR WORD    ; corrected values (x-128)                         :
:Ycorr      VAR WORD    ;   puts center at 0,0                             :
:Left       VAR WORD    ; Left Track                                       :
:Right      VAR WORD    ; Right Track                                      :
:LeftDir    VAR BIT     ; Tread directions  1 = backwards                  :
:RightDir   VAR BIT                                                        :
:                                                                          :
::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
:Main:                                                                     :
:    ADCIN 0, JoyX                            ; get Joystick values        :
:    ADCIN 1, JoyY                                                         :
:    ADCIN 2, TrimX                           ; Joystick Center trims      :
:    ADCIN 3, TrimY                           ;  set to 128 if not used    :
:                                                                          :
:    Xcorr = JoyX - 128 + (TrimX >> 3) - 16   ; adjust center position to 0:
:    Ycorr = JoyY - 128 + (TrimY >> 3) - 16                                :
:    IF ABS(Xcorr) < DeadBandX THEN Xcorr = 0 ; center deadband            :
:    IF ABS(Ycorr) < DeadBandY THEN Ycorr = 0 ;                            : 
:                                                                          :
:    Left  = Ycorr + Xcorr                    ; Mix Tread speeds           :
:    Right = Ycorr - Xcorr                                                 :
:                                                                          :
:    LeftDir = Left.15                        ; Tread Direction            :
:    RightDir = Right.15                      ;  1 = backwards             :
:                                                                          :
:    Left = ABS(Left)                         ; make values positive       :
:    Right = ABS(Right)                                                    :
:                                                                          :
:    if Left > 127 then Left = 127            ; Clamp max outputs          :
:    if Right > 127 then Right = 127          ;                            : 
:                                                                          :
:    ; Drive motors here                                                   :
:    ; LeftDir indicates the direction of the Left tread                   :
:    ; Left is the Speed of the motor 0 - 127                              :
:    ; Same for Right Track                                                :
:GOTO Main                                                                 :
::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::

Still compiles.

[skimask]

dx con 10:dy con 5:jx var byte:jy var byte:tx var byte:ty var byte:xc var word:yc var word:lt var word:rt var word:ld var bit:rd var bit
main: adcin 0,jx:adcin 1,jy:adcin 2,tx:adcin 3,ty:xcr=jx-128+(tx>>3)-16:yc=jy-128+(ty>>3)-16:IF ABS(Xc) < dx THEN Xc = 0
IF ABS(Ycorr) < dy THEN Ycorr = 0
lt=yc+xc:rt=yc-xc:ld=lt.15:rd=rt.15:lt=abs(lt):rt=abs(rt):if Lt > 127 then Lt = 127
if Rt > 127 then Rt = 127
GOTO Main

That's what I'm talkin' 'bout...

[Darrel Taylor]

Eeeeuuuwww ...

Cleanup on Isle #2

<img src="http://www.picbasic.co.uk/forum/attachment.php?attachmentid=2403" />

[skimask]

Eeeeuuuwww ...
Cleanup on Isle #2

To quote somebody else...
Maybe you want a:

Cleaup on Aisle #2

[Darrel Taylor]

No, I think you have your own little Island there.

The Colon Isle.

Population 1.

[skimask]

No, I think you have your own little Island there.
The Colon Isle.
Population 1.

This Isle has been Colon-ized!
Oh, and population 2.5 (got one that's just over half-way done cookin' in the oven)

[Darrel Taylor]

This Isle has been Colon-ized!

Good one!

Oh, and population 2.5 (got one that's just over half-way done cookin' in the oven)

That makes it a "semi-colon" ...
So it's commented out.
-0.5

[Andy Wood]

Eeeeuuuwww ...

Cleanup on Isle #2

<img src="http://www.picbasic.co.uk/forum/attachment.php?attachmentid=2403" />

Is this anything like colon cleansing???.......