Re: New C18 3.0+ Compatible FRC Code
 

Personally, I advocate doing this. I think keeping the teleop and autonomous sections separate is beneficial. If you have multiple programmers, it makes it easier for different people to work on different sections.

Additionally, I strongly advocate that everyone add a "robot.c/robot.h" that has all the robot functionality. This should be the only place that directly sets any PWM value. It would have functions like robot_drive(speed, turn_rate, gear) and robot_set_arm_position(height). These functions would be called from both the teleop and autonomous functions. Then, when you change your robot, swap motors around, change a pneumatic gear shifter to a servo gear shifter, bend a pin on the RC, etc, you only have one location where you need to make code changes.

Basically the robot.c/h file presents the robot conceptually to the rest of the code. The autonomous and teleop functions can deal with the logic, like "the robot drives forward X distance, and then turns 90 degrees", and the robot.c/h functions can translate that into "set PWM01=255, and PWM02=0".

Re: New C18 3.0+ Compatible FRC Code
 

Yes, this was considered, but I have a very small bias toward keeping the number of source files down to a minimum. Since most new teams probably won't touch the Autonomous( ) or Disabled( ) functions, adding four more source files would make the learning curve a little more steep. With that said, if we can reach some kind of consensus on this or any other aspect of the code, I'd be more than happy to modify the code to meet the needs of the community (which is one of the reasons I started this conversation).

-Kevin

Re: New C18 3.0+ Compatible FRC Code
 

What is your stance on pre compiling your drivers and back end code into a library? The source would be available to read, but you could cut out some of the mess in the source tree.

Although, on second thought, this may be a pain to maintain.

Re: New C18 3.0+ Compatible FRC Code
 

Just a bump. Still looking for the answer.

Re: New C18 3.0+ Compatible FRC Code
 

What version of MPLAB are you using? If it's anything less than 7.4 (I think), it won't work with the new compiler.

-Kevin

Re: New C18 3.0+ Compatible FRC Code
 

No, it's a good idea and one I'm entertaining (e.g., I already have a version of ifi_frc_xxxx.lib with the serial port code included).

My interest right now is to make sure that the CD programmer community is okay with the architecture and, hopefully, will spend some time finding any bugs I've introduced. Once that's done, I'll have a look at simplifying the source tree.

Speaking of bugs, does anyone have any code which will consistantly cause the 8.3 volt problem? I have a theory I'd like to test out, but haven't been able to reproduce the bug.

-Kevin

Re: New C18 3.0+ Compatible FRC Code
 

From my original post,


So, I thought it was 8.10, but now that I think about it, I originally installed 7.4 and the upgrade is only for C18, so I might still be at MPLAB 7.4, and C18 is 3.1. I'll verify when I return home this evening. Thanks Kevin! :)

Re: New C18 3.0+ Compatible FRC Code
 

From the C18 3.10 release notes: "MPLAB C18 v3.00 and later will not be compatible with versions of the MPLAB IDE prior to v7.21".

-Kevin

Re: New C18 3.0+ Compatible FRC Code
 

Yep, you nailed it Kevin.

I had installed MPLAB 7.20, added C18 2.x then upgraded C18 to 3.10.

So, now that I have reinstalled MPLAB 8.0 with C18 3.10, it works like a champ! It loads and builds your project first time, every time.

Now I'm off to try and see if I can actually do something with it. :ahh:

Re: New C18 3.0+ Compatible FRC Code
 

Thanks immensely. I use C18 3.10 all the time, and its a pain to have to maintain two seperate development toolchains for general purpose and FRC specific code. It's great not having to go searching for that ancient C-BOT compiler disk whenever I need to set up a box for FRC code, when I can get the most recent MPLAB IDE and C18 from the microchip website.

Re: New C18 3.0+ Compatible FRC Code
 

We don't have a program that could run on a bare controller, but I believe that we still have our 2006 robot fully together (currently with a 2005 controller) and could put the 2006 controller and program back in it without much effort. I would not say that it "consistently" hit the the 8.3 volt bug, but it most certainly hit the problem frequently. If you have a patch in mind we would be willing to try it out during the build period. It would be really nice to fix that bug. We have sworn off using interrupts (in our own code) on the 8722 based controllers until the problem is addressed.

Eugene

Re: New C18 3.0+ Compatible FRC Code
 

Thanks. I'd be happy if I could just get a .map or .lst file of a build that exhibited the problem.

-Kevin

Re: New C18 3.0+ Compatible FRC Code
 

Kevin,

I have sent you a web link to download a zipped example via a private message.

Eugene

Re: New C18 3.0+ Compatible FRC Code
 

I got the code. Thanks.

-Kevin

Re: New C18 3.0+ Compatible FRC Code
 

I noticed that you did not add the:

#pragma tmpdata low_isr_tmpdata

#pragma tmpdata

in the serial interrupts handlers?? but you did so in the timer.c and interrupts.c handlers??

is this an oversight??

thanks...