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-   -   Autonomous Switching (http://www.chiefdelphi.com/forums/showthread.php?t=49499)

Nicole_Ypes 16-10-2006 19:22
Autonomous Switching
 
Is there anyway a team can switch from a couple of autonomous without reprogramming ie. dipswitch possible with different wiring at all?

Thanks in advance :confused:

Mark McLeod 16-10-2006 19:46
Re: Autonomous Switching
 
Quote:
Originally Posted by Nicole_Ypes
Is there anyway a team can switch from a couple of autonomous without reprogramming ie. dipswitch possible with different wiring at all?

Thanks in advance :confused:
Sure. Even a simple jumper on any one of your digital inputs would work.
For example:
Code:
if (rc_dig_in01 == 1) // Can use a simple jumper to pick the autonomous to use
{
        printf("This is Autonomous_1\r");
        Autonomous_1();
}
else
{
        printf("This is Autonomous_2\r");
        Autonomous_2();
}

JamesBrown 29-01-2007 13:42
Re: Autonomous Switching
 
Quote:
Originally Posted by Mark McLeod (Post 529082)
Sure. Even a simple jumper on any one of your digital inputs would work.
For example:
Code:
if (rc_dig_in01 == 1) // Can use a simple jumper to pick the autonomous to use
{
        printf("This is Autonomous_1\r");
        Autonomous_1();
}
else
{
        printf("This is Autonomous_2\r");
        Autonomous_2();
}
If you want more than 2 modes you can use multiple digital inputs(I like switches more than jumpers but they are essentially the same thing) 1 digital input gives you 2 possible modes, 2 inputs gives you 4, 3 gives you 8 etc.

Another thing you can do is if between the modes you just want to change one variable (ie a delay before the code executes) you can use a pot(potentiometer) connected to an analog input and then tie the input from the pot to a variable in your code.

If you have any other questions just ask.

avatarrobodude 18-02-2007 12:10
Re: Autonomous Switching
 
would anybody happen to know how to make a jumper for the FRC robot controller? like, do we jump from ground to signal?

Mark McLeod 22-02-2007 16:46
Re: Autonomous Switching
 
Quote:
Originally Posted by avatarrobodude (Post 580849)
would anybody happen to know how to make a jumper for the FRC robot controller? like, do we jump from ground to signal?
Yes, just connect signal to ground on a digital input with a jumper that avoids the +5v power pin or use a switch.

The Vex tournaments are restricted to jumpers, but FRC is not.

ManicMechanic 13-03-2007 00:13
Re: Autonomous Switching
 
Quote:
Originally Posted by JamesBrown (Post 567518)
If you want more than 2 modes you can use multiple digital inputs(I like switches more than jumpers but they are essentially the same thing) 1 digital input gives you 2 possible modes, 2 inputs gives you 4, 3 gives you 8 etc.
What do you use for your digital inputs to trigger one mode or another? Limit switches? Bumper switches? And do you use mechanical means to hold them in position (levers that lock the toggles into one position or another)? Or am I making this too complicated?

Cody Carey 13-03-2007 07:40
Re: Autonomous Switching
 
What we've been doing is putting a potentiometer on the Operator Interface, marking positions on it... and using it for autonomous selection. Even though your robot is disabled at the beginning of a match, it still reads what value the potentiometer is sending. This allows for unlimited autonomous modes.

The code is just saying that if the value is 0-50, then do one autonomous, and if it is between 50-100 do another, etc. or whatever values you want based on how many auto modes you have.

Mike Betts 13-03-2007 07:59
Re: Autonomous Switching
 
Cody,

I think that you are confusing FRC and FVC...

Mike


Yolande,

Just use the orange jumpers that came in your VEX kit...

Mike

sovierr 15-03-2007 21:21
Re: Autonomous Switching
 
You cannot use a potentiometer in Vex. There are none in the vex kits, so any other pot you get would not be a legal Vex part for competition. You can use the Orange jumpers like the previous post suggested. If you've misplaced these, you can use a limit switch with a rubber band or cable tie holding down the switch.

nonother 15-03-2007 22:21
Re: Autonomous Switching
 
Just use the jumpers and it's very trivial. If your microcontroller is in a relatively difficult to reach place, I suggest running some PWM extension cables so you can plug the jumpers in wherever is most convenient.

ManicMechanic 16-03-2007 12:34
Re: Autonomous Switching
 
Sorry for the tedious n00bie questions -- I'm not a programmer.

From your code below, I'm assuming that you use the digital input from one of the 16 analog/digital ports to store in your variable. If we want to use Ports #1 & 2 (easiest to distinguish in a hurry), I'm assuming that we would have to reconfigure these as digital inputs. Are there any caveats/disadvantages to doing this, as opposed to using ports #11-16 (already configured as digital inputs by default)?

Does your variable rc_dig_in01 have to be declared anywhere prior using it to store the results of your digital input?

If we want to read a jumper in the interrupt ports instead, what command do we use to access the input from them?

Quote:
Originally Posted by Mark McLeod (Post 529082)
Sure. Even a simple jumper on any one of your digital inputs would work.
For example:
Code:
if (rc_dig_in01 == 1) // Can use a simple jumper to pick the autonomous to use
{
        printf("This is Autonomous_1\r");
        Autonomous_1();
}
else
{
        printf("This is Autonomous_2\r");
        Autonomous_2();
}
Finally, I'm still not seeing the advantage of switches over jumpers from this post. My mental picture of switches sees them as far more complicated than jumpers (attaching limit switches or bumpers and having to anchor them down). What am I missing?

Quote:
Originally Posted by James Brown
If you want more than 2 modes you can use multiple digital inputs (I like switches more than jumpers but they are essentially the same thing) 1 digital input gives you 2 possible modes, 2 inputs gives you 4, 3 gives you 8 etc.

Mark McLeod 17-03-2007 08:09
Re: Autonomous Switching
 
Quote:
Originally Posted by ManicMechanic (Post 598637)
If we want to use Ports #1 & 2 (easiest to distinguish in a hurry), I'm assuming that we would have to reconfigure these as digital inputs. Are there any caveats/disadvantages to doing this, as opposed to using ports #11-16 (already configured as digital inputs by default)?

Does your variable rc_dig_in01 have to be declared anywhere prior using it to store the results of your digital input?

If we want to read a jumper in the interrupt ports instead, what command do we use to access the input from them?
Just to avoid confusing people who are reading this be aware that the example I showed was for programming through MPLAB rather than EasyC. You can do the same thing in EasyC it's just a little different.

You can safely change the default configurations of inputs 1 & 2 to use those for jumpers.
With MPLAB You have to change: Set_Number_of_Analog_Channels(NO_ANALOGS);
The only issue that might change your mind is if you wanted to use an input for an analog sensor rather than digital. The way the Vex controller is designed any analog inputs you use are declared in order before your digital inputs.

If you use MPLAB to program your robot then rc_dig_in01 is defined.
In EasyC you'd drag in "Digital Inputs" from under "Inputs" to check your jumper.


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