OCCRA
Go to Post With any dollar amount to invest I would be more interested in the number of individuals (students is too narrow) impacted than the number of teams created--after all, this is about people. - kramarczyk [more]
Home
Go Back   Chief Delphi > Technical > Programming
CD-Events   CD-Media   CD-Spy   FRC-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Closed Thread
Thread Tools Rate Thread Display Modes
  #1   Spotlight this post!  
Unread 12-03-2003, 06:10 PM
GregTheGreat's Avatar
GregTheGreat GregTheGreat is offline
Registered User
no team
 
Join Date: Jan 2003
Rookie Year: 2002
Location: USA
Posts: 386
GregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura about
Help On Coding 2K1 Controller

Hello. Well as my first post on the "new" chiefdelphi... I am asking for the help of all you Pbasic programmers that want one last Pbasic thing to look at before switching to the dreaded C lauguage of '04.

I have a code I have been working on that is going to be used in a 2k1 INOVATION FIRST controller. Ive got some basic code written up for basic operation... Switches, PWM's, Relays, etc...

Here is the problem... I have been not programming in basic since the end of last season and have already been doing Flash Programming and C introductary programming. I wrote the code to be able to control the relay inputs (spikes) with the buttons on the joysticks... IThe problem I am having is that I can not get port 1 or 3 joysticks to control the relays. (the pwms work fine)..I declared the variables and checked the alais's and the serin and out commands...

If you have any ideas I am all ears...

The code is below since I don't think you can post a pbasic file.

Thanks For The Help,

-Greg The Great

' PROGRAM: Full-Size RC Default 2003 (2 Joystick Drive)
' Written by: Innovation First, Inc.
' Date: 2002 Nov 26
'
' Define BS2-SX Project Files
'
' {$STAMP BS2SX}


'================================================= ================================================== ==========
'========== DECLARE VARIABLES ================================================== ==============================
'================================================= ================================================== ==========
' Below is a list of declared input and output variables. Comment or un-comment
' the variables as needed. Declare any additional variables required in
' your main program loop. Note that you may only use 26 total variables.


'---------- Operator Interface (OI) - Analog Inputs ----------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
p1_x VAR byte 'Port 1, X-axis on Joystick
p2_x VAR byte 'Port 2, X-axis on Joystick
p3_x VAR byte 'Port 3, X-axis on Joystick
p4_x VAR byte 'Port 4, X-axis on Joystick

p1_y VAR byte 'Port 1, Y-axis on Joystick
p2_y VAR byte 'Port 2, Y-axis on Joystick
p3_y VAR byte 'Port 3, Y-axis on Joystick
p4_y VAR byte 'Port 4, Y-axis on Joystick

p1_wheel VAR byte 'Port 1, Wheel on Joystick
p2_wheel VAR byte 'Port 2, Wheel on Joystick
p3_wheel VAR byte 'Port 3, Wheel on Joystick
p4_wheel VAR byte 'Port 4, Wheel on Joystick

'p1_aux VAR byte 'Port 1, Aux on Joystick
'p2_aux VAR byte 'Port 2, Aux on Joystick
'p3_aux VAR byte 'Port 3, Aux on Joystick
'p4_aux VAR byte 'Port 4, Aux on Joystick



'---------- Operator Interface - Digital Inputs --------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
oi_swA VAR byte 'OI Digital Switch Inputs 1 thru 8
oi_swB VAR byte 'OI Digital Switch Inputs 9 thru 16


'---------- Robot Controller (RC) - Analog Inputs ------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
'sensor1 VAR byte 'RC Analog Input 1, connector pin 2
'sensor2 VAR byte 'RC Analog Input 2, connector pin 16
'sensor3 VAR byte 'RC Analog Input 3, connector pin 5
'sensor4 VAR byte 'RC Analog Input 4, connector pin 19
'sensor5 VAR byte 'RC Analog Input 5, connector pin 8
'sensor6 VAR byte 'RC Analog Input 6, connector pin 22
'sensor7 VAR byte 'RC Analog Input 7, connector pin 11
'bat_volt VAR byte 'RC Analog Input 8, hardwired to the Battery
'Vin = ((4.7/14.7)* Battery voltage)-0.4
'Binary Battery Voltage = (Vin/5.0 V)*255


'---------- Robot Controller - Digital Inputs ----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
rc_swA VAR byte 'RC Digital Inputs 1 thru 8
rc_swB VAR byte 'RC Digital Inputs 9 thru 16


'---------- Robot Controller - Digital Outputs ---------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
relayA VAR byte
relayB VAR byte


'---------- Misc. --------------------------------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
packet_num VAR byte
'delta_t VAR byte
PB_mode VAR byte

'================================================= ================================================== ==========
'========== DEFINE ALIASES ================================================== =================================
'================================================= ================================================== ==========
' Aliases are variables which are sub-divisions of variables defined
' above. Aliases don't require any additional RAM.


'---------- Aliases for each OI switch input -----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Below are aliases for the digital inputs located on the Operator Interface.
' Ports 1 & 3 have their inputs duplicated in ports 4 & 2 respectively. The
' inputs from ports 1 & 3 may be disabled via the 'Disable' dip switch
' located on the Operator Interface. See Users Manual for details.

p1_sw_trig VAR oi_swA.bit0 'Joystick Trigger Button, same as Port4 pin5
p1_sw_top VAR oi_swA.bit1 'Joystick Top Button, same as Port4 pin8
p1_sw_aux1 VAR oi_swA.bit2 'Aux input, same as Port4 pin9
p1_sw_aux2 VAR oi_swA.bit3 'Aux input, same as Port4 pin15

p3_sw_trig VAR oi_swA.bit4 'Joystick Trigger Button, same as Port2 pin5
p3_sw_top VAR oi_swA.bit5 'Joystick Top Button, same as Port2 pin8
p3_sw_aux1 VAR oi_swA.bit6 'Aux input, same as Port2 pin9
p3_sw_aux2 VAR oi_swA.bit7 'Aux input, same as Port2 pin15

p2_sw_trig VAR oi_swB.bit0 'Joystick Trigger Button
p2_sw_top VAR oi_swB.bit1 'Joystick Top Button
p2_sw_aux1 VAR oi_swB.bit2 'Aux input
p2_sw_aux2 VAR oi_swB.bit3 'Aux input

p4_sw_trig VAR oi_swB.bit4 'Joystick Trigger Button
p4_sw_top VAR oi_swB.bit5 'Joystick Top Button
p4_sw_aux1 VAR oi_swB.bit6 'Aux input
p4_sw_aux2 VAR oi_swB.bit7 'Aux input


'---------- Aliases for each RC switch input -----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Below are aliases for the digital inputs located on the Robot Controller.

rc_sw1 VAR rc_swA.bit0
rc_sw2 VAR rc_swA.bit1
rc_sw3 VAR rc_swA.bit2
rc_sw4 VAR rc_swA.bit3
rc_sw5 VAR rc_swA.bit4
rc_sw6 VAR rc_swA.bit5
rc_sw7 VAR rc_swA.bit6
rc_sw8 VAR rc_swA.bit7
rc_sw9 VAR rc_swB.bit0
rc_sw10 VAR rc_swB.bit1
rc_sw11 VAR rc_swB.bit2
rc_sw12 VAR rc_swB.bit3
rc_sw13 VAR rc_swB.bit4
rc_sw14 VAR rc_swB.bit5
rc_sw15 VAR rc_swB.bit6
rc_sw16 VAR rc_swB.bit7


'---------- Aliases for each RC Relay outputs ----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Below are aliases for the relay outputs located on the Robot Controller.

relay1_fwd VAR RelayA.bit0
relay1_rev VAR RelayA.bit1
relay2_fwd VAR RelayA.bit2
relay2_rev VAR RelayA.bit3
relay3_fwd VAR RelayA.bit4
relay3_rev VAR RelayA.bit5
relay4_fwd VAR RelayA.bit6
relay4_rev VAR RelayA.bit7

relay5_fwd VAR RelayB.bit0
relay5_rev VAR RelayB.bit1
relay6_fwd VAR RelayB.bit2
relay6_rev VAR RelayB.bit3
relay7_fwd VAR RelayB.bit4
relay7_rev VAR RelayB.bit5
relay8_fwd VAR RelayB.bit6
relay8_rev VAR RelayB.bit7


'---------- Aliases for the Pbasic Mode Byte (PB_mode) -------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Bit 7 of the PB_mode byte (aliased as comp_mode below) indicates the status
' of the Competition Control, either Enabled or Disabled. This indicates the
' starting and stopping of rounds at the competitions.
' Comp_mode is indicated by a solid "Disabled" LED on the Operator Interface.
' Comp_mode = 1 for Enabled, 0 for Disabled.
'
' Bit 6 of the PB_mode byte (aliased as auton_mode below) indicates the status
' of the Autonomous Mode, either Autonomous or Normal. This indicates when
' the robot must run on its own programming. When in Autonomous Mode, all
' OI analog inputs are set to 127 and all OI switch inputs are set to 0 (zero).
' Auton_mode is indicated by a blinking "Disabled" LED on the Operator Interface.
' Auton_mode = 1 for Autonomous, 0 for Normal.
'
' Autonomous Mode can be turned ON by setting the RC to Team 0 (zero).
'
' Bit 5 of the PB_mode byte (aliased as user_display_mode below) indicates when
' the user selects the "User Mode" on the OI. PB_mode.bit5 is set to 1 in "User Mode".
' When the user selects channel, team number, or voltage, PB_mode.bit5 is set to 0
' When in "User Mode", the eight Robot Feedback LED are turned OFF.
' Note: "User Mode" is identified by the letter u in the left digit (for 4 digit OI's)
' Note: "User Mode" is identified by decimal places on the right two digits (for 3 digit OI's)

comp_mode VAR PB_mode.bit7
auton_mode VAR PB_mode.bit6
user_display_mode VAR PB_mode.bit5


'================================================= ================================================== ==========
'========= DEFINE CONSTANTS FOR INITIALIZATION ================================================== =============
'================================================= ================================================== ==========
' The initialization code is used to select the input data used by PBASIC.
' The Master micro-processor (uP) sends the data you select to the BS2SX
' PBASIC uP. You may select up to 26 constants, corresponding
' to 26 variables, from the 32 available to you. Make sure that you have
' variables for all the bytes recieved in the serin command.
'
' The constants below have a "c_" prefix, as compared to the variables that
' they will represent.
'
' Set the Constants below to 1 for each data byte you want to recieve.
' Set the Constants below to 0 for the unneeded data bytes.


'---------- Set the Initialization constants you want to read ------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
c_p1_y CON 1
c_p2_y CON 1
c_p3_y CON 1
c_p4_y CON 1

c_p1_x CON 1
c_p2_x CON 1
c_p3_x CON 1
c_p4_x CON 1

c_p1_wheel CON 1
c_p2_wheel CON 1
c_p3_wheel CON 1
c_p4_wheel CON 1

c_p1_aux CON 0
c_p2_aux CON 0
c_p3_aux CON 0
c_p4_aux CON 0

c_oi_swA CON 1
c_oi_swB CON 1

c_sensor1 CON 0
c_sensor2 CON 0
c_sensor3 CON 0
c_sensor4 CON 0
c_sensor5 CON 0
c_sensor6 CON 0
c_sensor7 CON 0
c_batt_volt CON 0

c_rc_swA CON 1
c_rc_swB CON 1

c_delta_t CON 0
c_PB_mode CON 1
c_packet_num CON 1
c_res01 CON 0

'---------- Initialization Constant VOLTAGE - USER DEFINED ---------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This is the 'Low Battery' detect voltage. The 'Low Battery' LED will
' blink when the voltage drops below this value.
' Basically, the value = ((DESIRED FLASH VOLTAGE * 16.46) - 8.35)
' Example, for a 6.5 Volt Flash trigger, set value = 99.

dataInitVolt CON 140


'================================================= ================================================== ==========
'========== DEFINE CONSTANTS (DO NOT CHANGE) ================================================== ===============
'================================================= ================================================== ==========
' Baud rate for communications with User CPU
OUTBAUD CON 20 '(62500, 8N1, Noninverted)
INBAUD CON 20 '(62500, 8N1, Noninverted)

USERCPU CON 4
FPIN CON 1
COMA CON 1
COMB CON 2
COMC CON 3


'================================================= ================================================== ==========
'========== MAIN PROGRAM ================================================== ===================================
'================================================= ================================================== ==========


'---------- Input & Output Declarations ----------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
Output COMB
Input COMA
Input COMC

Output 7 'define Basic Run LED on RC => out7

Output 8 'define Robot Feedback LED => out8 => PWM1 Green
Output 9 'define Robot Feedback LED => out9 => PWM1 Red
Output 10 'define Robot Feedback LED => out10 => PWM2 Green
Output 11 'define Robot Feedback LED => out11 => PWM2 Red
Output 12 'define Robot Feedback LED => out12 => Relay1 Red
Output 13 'define Robot Feedback LED => out13 => Relay1 Green
Output 14 'define Robot Feedback LED => out14 => Relay2 Red
Output 15 'define Robot Feedback LED => out15 => Relay2 Green


'---------- Initialize Inputs & Outputs ----------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
Out7 = 1 'Basic Run LED on RC
Out8 = 0 'PWM1 LED - Green
Out9 = 0 'PWM1 LED - Red
Out10 = 0 'PWM2 LED - Green
Out11 = 0 'PWM2 LED - Red
Out12 = 0 'Relay1 LED - Red
Out13 = 0 'Relay1 LED - Green
Out14 = 0 'Relay2 LED - Red
Out15 = 0 'Relay2 LED - Green


'================================================= ================================================== ==========
'========== PBASIC - MASTER uP INITIALIZATION ROUTINE ================================================== ======
'================================================= ================================================== ==========
' DO NOT CHANGE THIS! DO NOT MOVE THIS!
' The init routine sends 5 bytes to the Master uP, defining which data bytes to receive.
' 1) Collect init.
' 2) Lower the COMA line, which is the clk line for the shift out command.
' 3) Lower COMB line to tell pic that we are ready to send init data.
' 4) Wait for pic to lower the COMC line, signaling pic is ready for data.
' 5) Now send out init dat to pic, all 5 bytes.
' 6) Now set direction and levels for the COMA and COMB pins.

tempA CON c_p3_x <<1 + c_p4_x <<1 + c_p1_x <<1 + c_p2_x <<1 + c_rc_swB
dataInitA CON tempA <<1 + c_rc_swA <<1 + c_oi_swB <<1 + c_oi_swA
tempB CON c_sensor4 <<1 + c_sensor3 <<1 + c_p1_y <<1 + c_p2_y <<1 + c_sensor2
dataInitB CON tempB <<1 + c_sensor1 <<1 + c_packet_num <<1 + c_PB_mode
tempC CON c_batt_volt <<1 + c_sensor7 <<1 + c_p1_wheel <<1 + c_p2_wheel <<1 + c_sensor6
dataInitC CON tempC <<1 + c_sensor5 <<1 + c_p3_y <<1 + c_p4_y
tempD CON c_res01 <<1 + c_delta_t <<1 + c_p3_aux <<1 + c_p4_aux <<1 + c_p1_aux
dataInitD CON tempD <<1 + c_p2_aux <<1 + c_p3_wheel <<1 + c_p4_wheel

Output COMA
low COMA
low COMB
Input COMC

Wait_init: if IN3 = 1 then Wait_init:
Shiftout COMB,COMA,1, [dataInitA,dataInitB,dataInitC,dataInitD,dataInitVo lt]
Input COMA
high COMB

Output COMC
low COMC

'================================================= ================================================== ==========
'========== MAIN LOOP ================================================== ======================================
'================================================= ================================================== ==========

MainLoop:


'---------- Serin Command - Get Data from Master uP ----------------------------------------------------------
' Construct the "serin" command using the following rules:
' 1) There must be one variable for every input defined in the "Define Constants for Init" section.
' 2) The order must match the order in the EXAMPLE SERIN COMMAND below.
' 3) The total number of all variables may not exceed 26.
' 4) Only use one "Serin" command.
' 5) The Serin command must occupy one line.
'
' If you see a BASIC INIT ERR on the Robot Controller after programming and pressing RESET, then
' there is a problem with the Serin command below. Check the number of variables. A BASIC INIT ERR
' will not occur if you have the variables in the wrong order, however your code will not work correctly.
'
' EXAMPLE SERIN COMMAND
' This example exceed the 26 variable limit and is not on one line:
'
' Serin COMA\COMB, INBAUD, [oi_swA,oi_swB,rc_swA,rc_swB,p2_x,p1_x,p4_x,p3_x,PB _mode,packet_num,sensor1,
' sensor2,p2_y,p1_y,sensor3,sensor4,p4_y,p3_y,sensor 5,sensor6,p2_wheel,p1_wheel,
' sensor7,sensor8,p4_wheel,p3_wheel,p2_aux,p1_aux,p4 _aux,p3_aux,delta_t,res01]
'
Serin COMA\COMB, INBAUD, [oi_swA,oi_swB,rc_swA,rc_swB,p2_x,p1_x,p4_x,p3_x,PB _mode,packet_num,p2_y,p1_y,p4_y,p3_y,p2_wheel,p1_w heel,p4_wheel,p3_wheel]


'---------- Blink BASIC RUN LED ------------------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
Toggle 7 'Basic Run LED on the RC is toggled ON/OFF every loop.



'================================================= ================================================== ==========
'========== PERFORM OPERATIONS ================================================== =============================
'================================================= ================================================== ==========


'---------- Buttons to Relays---------------------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This maps the joystick buttons to specific relay outputs. Relays 1 and 2
' use limit switches to stop the movement in one direction.
' The & used below is the PBASIC symbol for AND
' The &~ used below is the PBASIC symbol for AND NOT

relay1_fwd = p1_sw_trig &~ rc_sw1 'Port 1 Trigger = Relay 1 Forward, unless rc_sw1 is ON
relay1_rev = p1_sw_top &~ rc_sw2 'Port 1 Thumb = Relay 1 Reverse, unless rc_sw2 is ON
relay2_fwd = p2_sw_trig &~ rc_sw3 'Port 2 Trigger = Relay 2 Forward, unless rc_sw3 is ON
relay2_rev = p2_sw_top &~ rc_sw4 'Port 2 Thumb = Relay 2 Reverse, unless rc_sw4 is ON

relay3_fwd = p3_sw_trig 'Port 3 Trigger = Relay 3 Forward
relay3_rev = p3_sw_top 'Port 3 Thumb = Relay 3 Reverse
relay4_fwd = p4_sw_trig 'Port 4 Trigger = Relay 4 Forward
relay4_rev = p4_sw_top 'Port 4 Thumb = Relay 4 Reverse

relay5_fwd = p1_sw_aux1 'Port 1 Aux1 = Relay 5 Forward
relay5_rev = p1_sw_aux2 'Port 1 Aux2 = Relay 5 Forward
relay6_fwd = p3_sw_aux1 'Port 3 Aux1 = Relay 6 Forward
relay6_rev = p3_sw_aux2 'Port 3 Aux2 = Relay 6 Forward
relay7_fwd = p4_sw_aux1 'Port 4 Aux1 = Relay 7 Forward
relay7_rev = p4_sw_aux2 'Port 4 Aux2 = Relay 7 Reverse

relay8_fwd = 1 'Relay 8 = Forward (turns the rotating light ON)
relay8_rev = 0 'Relay 8 = Forward


'---------- PWM Feedback lights-------------------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This drives the "PWM1" and "PWM2" "Robot Feedback" lights on the Operator
' Interface. The lights are green for joystick forward and red for joystick
' reverse. Both red and green are on when the joystick is centered. Use the
' trim tabs on the joystick to adjust the center.


if user_display_mode = 1 then skip_this_code
if p1_y > 129 then p1_y_not_127
if p1_y < 125 then p1_y_not_127
Out8 = 1
Out9 = 1
goto exit_p1_y_test
p1_y_not_127:
Out8 = p1_y/216 'LED is ON when Port 1 Y is full forward
Out9 = ~(p1_y/56 max 1) 'LED is ON when Port 1 Y is full reverse
exit_p1_y_test:

if p2_y > 129 then p2_y_not_127
if p2_y < 125 then p2_y_not_127
Out10 = 1
Out11 = 1
goto exit_p2_y_test
p2_y_not_127:
Out10 = p2_y/216 'LED is ON when Port 2 Y is full forward
Out11 = ~(p2_y/56 max 1) 'LED is ON when Port 2 Y is full reverse
exit_p2_y_test:
skip_this_code:



'---------- Relay Feedback Lights ----------------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This drives the "Relay 1" and "Relay 2" "Robot Feedback" lights on the Operator
' Interface.

if user_display_mode = 1 then user_mode_is_ON
Out13 = relay1_fwd 'LED is ON when Relay 1 is CW
Out12 = relay1_rev 'LED is ON when Relay 1 is CCW
Out15 = relay2_fwd 'LED is ON when Relay 2 is CW
Out14 = relay2_rev 'LED is ON when Relay 2 is CCW
goto display_done

user_mode_is_ON: 'Send Port1 Y to 7-segment display when PB_mode.bit5 = 1
out8 = p1_y.bit0
out9 = p1_y.bit1
out10 = p1_y.bit2
out11 = p1_y.bit3
out12 = p1_y.bit4
out13 = p1_y.bit5
out14 = p1_y.bit6
out15 = p1_y.bit7
display_done:

'---------- PWM outputs Limited by Limit Switches -----------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------

if rc_sw5 = 0 then next1:
p3_y = p3_y MAX 127
next1:

if rc_sw6 = 0 then next2:
p3_y = p3_y MIN 127
next2:

if rc_sw7 = 0 then next3:
p4_y = p4_y MAX 127
next3:

if rc_sw8 = 0 then next4:
p4_y = p4_y MIN 127
next4:

if rc_sw9 = 0 then next5:
p1_wheel = p1_wheel MAX 127
next5:

if rc_sw10 = 0 then next6:
p1_wheel = p1_wheel MIN 127
next6:

if rc_sw11 = 0 then next7:
p2_wheel = p2_wheel MAX 127
next7:

if rc_sw12 = 0 then next8:
p2_wheel = p2_wheel MIN 127
next8:

if rc_sw13 = 0 then next9:
p3_wheel = p3_wheel MAX 127
next9:

if rc_sw14 = 0 then next10:
p3_wheel = p3_wheel MIN 127
next10:

if rc_sw15 = 0 then next11:
p4_wheel = p4_wheel MAX 127
next11:

if rc_sw16 = 0 then next12:
p4_wheel = p4_wheel MIN 127
next12:


'================================================= ================================================== ==========
'========== OUTPUT DATA ================================================== ====================================
'================================================= ================================================== ==========
' The Serout line sends data to the Output uP. The Output uP passes this to each PWM 1-16
' and Relay 1-8. The Output uP will not output data if there is no communication with the
' Operator Interface or if the Competition Mode is Disabled. Do not delete any elements
' from the Serout array. Set unused PWM outputs to 127. Set unused relay outputs to 0.
'
' Serout USERCPU, OUTBAUD, [255,255,(PWM1),relayA,(PWM2),relayB,(PWM3),(PWM4), (PWM5),(PWM6),(PWM7),(PWM8),(PWM9),(PWM10),(PWM11) ,(PWM12),(PWM13),(PWM14),(PWM15),(PWM16)]

Serout USERCPU, OUTBAUD, [255,255,p1_y,relayA,p2_y,relayB,p3_y,p4_y,p1_x,p2_ x,p3_x,p4_x,p1_wheel,p2_wheel,p3_wheel,p4_wheel]

Goto MainLoop:


Stop
  #2   Spotlight this post!  
Unread 12-03-2003, 07:12 PM
rbayer's Avatar Unsung FIRST Hero
rbayer rbayer is offline
Blood, Sweat, and Code
no team (Teamless Orphan)
 
Join Date: Mar 2002
Rookie Year: 2001
Location: Minnetonka, MN
Posts: 1,087
rbayer is a glorious beacon of lightrbayer is a glorious beacon of lightrbayer is a glorious beacon of lightrbayer is a glorious beacon of lightrbayer is a glorious beacon of light
Send a message via AIM to rbayer
Re: Help On Coding 2K1 Controller

Your code is fine. Are you sure it's not an electrical problem? Trying doing the following:

debug? p1_sw_trig
debug? p1_sw_top
...etc, etc
__________________
New C-based RoboEmu2 (code simulator) available at: http://www.robbayer.com/software.php
  #3   Spotlight this post!  
Unread 12-03-2003, 10:13 PM
GregTheGreat's Avatar
GregTheGreat GregTheGreat is offline
Registered User
no team
 
Join Date: Jan 2003
Rookie Year: 2002
Location: USA
Posts: 386
GregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura about
Re: Help On Coding 2K1 Controller

Quote:
Originally Posted by rbayer
Your code is fine. Are you sure it's not an electrical problem? Trying doing the following:

debug? p1_sw_trig
debug? p1_sw_top
...etc, etc

they are never triggered. I thought of this last night when i was working on it... It as if the buttons are not being recongized. It is not electrical since I can run all relays to and even number controller input (2 or 4)

-Greg The Great
  #4   Spotlight this post!  
Unread 12-03-2003, 11:37 PM
Sachiel7's Avatar
Sachiel7 Sachiel7 is offline
<Yes I managed to flip it
AKA: Shayne Helms
FRC #1132 (RAPTAR Robotics)
 
Join Date: Sep 2002
Rookie Year: 2002
Location: Richmond, VA
Posts: 541
Sachiel7 is just really niceSachiel7 is just really niceSachiel7 is just really niceSachiel7 is just really niceSachiel7 is just really nice
Send a message via AIM to Sachiel7
Re: Help On Coding 2K1 Controller

You might have bad joysticks. Unplug the connector to ensure all the pins are lined up right, and make sure it's plugged in all the way. If it is, then hook it up to a PC and setup a 3axis 2-button (I'm guessing you're using the joysticks from the kit) joystick. Test it's buttons. That *may* solve your problem. If it works on your PC, a few quick questions/points:
-Your OI connection might be bad...
- Which version of PBasic are you using?
- Are you using a y-cord?

Just to name a few. A list of your control setup might help. But as stated before, I think it's a problem with your inputs, not the programming.
__________________
-=Sachiel7=-

There's no such thing as being too simple!
Look for Team #1132, RAPTAR Robotics at the VCU Regional this year!
  #5   Spotlight this post!  
Unread 12-04-2003, 07:43 AM
GregTheGreat's Avatar
GregTheGreat GregTheGreat is offline
Registered User
no team
 
Join Date: Jan 2003
Rookie Year: 2002
Location: USA
Posts: 386
GregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura about
Re: Help On Coding 2K1 Controller

Quote:
Originally Posted by Sachiel7
You might have bad joysticks. Unplug the connector to ensure all the pins are lined up right, and make sure it's plugged in all the way. If it is, then hook it up to a PC and setup a 3axis 2-button (I'm guessing you're using the joysticks from the kit) joystick. Test it's buttons. That *may* solve your problem. If it works on your PC, a few quick questions/points:
-Your OI connection might be bad...
- Which version of PBasic are you using?
- Are you using a y-cord?

Just to name a few. A list of your control setup might help. But as stated before, I think it's a problem with your inputs, not the programming.

Oh, how I wish it was something easy like bad joysticks.... (Then i could just get new ones)

I will give you the 411 on what I know....

The joysticks all work on port 2 and 4.... I ran button checks on the computer and through the dashboard viewer and all the axies work. The problem is just in my buttons on OI port 1 and 3.... I find it somewhat odd that the number on which the problem I am having trouble on are both odd ports.... Now heres the real kicker..... I am using the 2.0 software as well as the 2.0 default program.... I was tempted to run the 2003 default software but I didn't know if it was compadable. It is not hardware and I dought their is a problem in the OI someware... Remember if their is a problem at a match the first thing that is looked at in detail is the programming.... I still think their is a problem in my coding.... seeing as it is just the button on the odd # ports.... and since thats how in the end the ports are split up for the relay's.

If you have in more ideas they would greatly help....

Thanks For The Help All,

-Greg The Great
  #6   Spotlight this post!  
Unread 12-04-2003, 08:55 AM
Dave Flowerday Dave Flowerday is offline
Software Engineer
VRC #0111 (Wildstang)
Team Role: Engineer
 
Join Date: Feb 2002
Rookie Year: 1995
Location: North Barrington, IL
Posts: 1,352
Dave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond reputeDave Flowerday has a reputation beyond repute
Re: Help On Coding 2K1 Controller

Quote:
Originally Posted by GregTheGreat
The joysticks all work on port 2 and 4.... I ran button checks on the computer and through the dashboard viewer and all the axies work. The problem is just in my buttons on OI port 1 and 3.... I find it somewhat odd that the number on which the problem I am having trouble on are both odd ports....
Are the "disable" DIP switches set correctly on your OI? See page 17 of this document. Quote: "The DISABLE dipswitch is used to disable buttons on joysticks connected to PORT 1 and PORT 3."
  #7   Spotlight this post!  
Unread 12-04-2003, 08:56 AM
Steve Shade Steve Shade is offline
Registered User
no team
Team Role: Engineer
 
Join Date: Jun 2001
Rookie Year: 1999
Location: Pasadena, MD
Posts: 78
Steve Shade has much to be proud ofSteve Shade has much to be proud ofSteve Shade has much to be proud ofSteve Shade has much to be proud ofSteve Shade has much to be proud ofSteve Shade has much to be proud ofSteve Shade has much to be proud ofSteve Shade has much to be proud ofSteve Shade has much to be proud of
Re: Help On Coding 2K1 Controller

Greg:

Check the OI to make sure the Disable Dipswitches are not enabled. These switches disable the switch inputs on ports 1 and 3 and reassign these inputs to ports 2 and 4. See page 17 of the old Operator Interface Reference Guide for more information. If you can't find the guide online send me an e-mail or pm with your e-mail and I'll send it your way.

Steve
  #8   Spotlight this post!  
Unread 12-04-2003, 09:01 AM
Mike Soukup's Avatar
Mike Soukup Mike Soukup is offline
Software guy
FRC #0111 (Wildstang)
Team Role: Engineer
 
Join Date: May 2001
Rookie Year: 1996
Location: Schaumburg, IL
Posts: 785
Mike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond reputeMike Soukup has a reputation beyond repute
Re: Help On Coding 2K1 Controller

Quote:
Originally Posted by GregTheGreat
Now heres the real kicker..... I am using the 2.0 software as well as the 2.0 default program.... I was tempted to run the 2003 default software but I didn't know if it was compadable.
Yes, you can use the new editor / tokernizer and the new code with an older controller. We used either the 2002 or 2001 controller with our prototype robot and the exact same code as our real robot this year and we did not have any problems with it. It worked exactly like the 2003 controller.

As you mentioned, it's odd that the problem is only on ports 1 & 3. Both of those are read in and stored in 'oi_swA' so that's the first place to look. I've fogotten some of the common coding problems in the old controller, but the ones I remember - telling the controller you want to grab the byte from the stream, and actually including the byte in the stream - look good. Try printing out 'oi_swA' immediately after it's read in from the data stream.
  #9   Spotlight this post!  
Unread 12-05-2003, 08:28 AM
GregTheGreat's Avatar
GregTheGreat GregTheGreat is offline
Registered User
no team
 
Join Date: Jan 2003
Rookie Year: 2002
Location: USA
Posts: 386
GregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura about
Re: Help On Coding 2K1 Controller

Allright I will try all of this fun stuff tonight, seeing as I am at school right now... I believe you might be right about the disable dip-switches seeing as my # is on 000 right now...

Thanks,

-Greg The Great
  #10   Spotlight this post!  
Unread 12-05-2003, 05:35 PM
GregTheGreat's Avatar
GregTheGreat GregTheGreat is offline
Registered User
no team
 
Join Date: Jan 2003
Rookie Year: 2002
Location: USA
Posts: 386
GregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura aboutGregTheGreat has a spectacular aura about
Re: Help On Coding 2K1 Controller

Quote:
Originally Posted by Dave Flowerday
Are the "disable" DIP switches set correctly on your OI? See page 17 of this document. Quote: "The DISABLE dipswitch is used to disable buttons on joysticks connected to PORT 1 and PORT 3."

Thank You VERY MUCH! This was the problem... Thanks Again...

-Greg The Great
Closed Thread


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump

Similar Threads
Thread Thread Starter Forum Replies Last Post
C controller Rorschach Kit & Additional Hardware 1 10-29-2003 06:21 PM
serious problem found - robot controller resets when jarred! KenWittlief Electrical 23 03-19-2003 12:30 PM
Visibility of Robot Controller and Reset Button Tracy Rules/Strategy 1 02-17-2003 06:36 AM
How do you connect the speed controller fans? Iain Electrical 7 01-31-2003 06:05 AM
visibility of robot controller? davidzhang Rules/Strategy 5 01-26-2003 12:11 AM


All times are GMT -5. The time now is 06:47 AM.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2014, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi