Chief Delphi - Don't Laugh - Remember I'm New ... Robovation Kit

Yes, this is actually quite easy, and no it was not a dumb question. :)

The best I can explain it would be through code:

Code:

unsigned long int timer = 0;//Global variable declared right under the includes



...Code ommited for posting purposes...



//This function gets called every 17ms, therefore you just use a global variable that increments everytime this function is called to keep track of the time that is going by.

void Process_Data_From_Master_uP(void)

{

  Getdata(&rxdata);   /* Get fresh data from the master microprocessor. */



  Default_Routine();  /* Optional.  See below. */



  /* Add your own code here. */



  if(timer <= 85)//Both pwms full forward for first 5 seconds (17 * 5= 85)

  {

    pwm07 = 255;

    pwm08 = 255;

  }

  else if(timer > 85 && timer <= 119)//For next 2 seconds turn

  {

    pwm07 = 0;

    pwm08 = 255;

  }

  else //else sit there

  {

    pwm07 = 127;

    pwm08 = 127;

  }



  timer++;//Increment the variable



  printf("PWM OUT 7 = %d, PWM OUT 8 = %d\n",(int)pwm07,(int)pwm08);  /* printf EXAMPLE */



  Putdata(&txdata);             /* DO NOT CHANGE! */

}

and there you go. You just have to edit the Process_Data_From_Master_uP function in user_routines.c. Hope I helped :). Basically you just use this function to simulate autonomous, but if you need something to update faster then 17ms you need to place it in a different spot.