Chief Delphi - Interrupt issue with new code

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Interrupt issue with new code

I've been trying to write the drive code for my current prototype drive, but I'm having issues.

This is the setup:
Hardware:
BaneBots gearbox connected to pwm01
Banebots encoder kit and encoder divider board installed on the gearbox.
Divider direction connected to rc_dig_in07
Divider speed connected to rc_dig_in03

Software:
Kevin's new code
In "interrupts.h"
#define ENABLE_INT_3_6 un-commented
In "teleop.c"
"Initialize_Int_3_6();" added to Initialization() where comments indicate.

Code:

void Teleop(void)

{

        static int i, j;

        i ++;

        j ++;



        if (i > 20)

        {

                printf("Encoder 1 Direction = %d\r\n", (int)ENCODER_ONE_DIRECTION);

                printf("Encoder 1 = %d\r\n\r\n", (int)Encoder_One_Count());

                i = 0;

        }



             //Run motor to demomstrate proper functioning

        if (j < 100)

        {

                Motor(1, 50);//in drive.c

        }

        else if (j < 150)

        {

                Motor(1, 0);

        }

        else if (j < 250)

        {

                Motor(1, -50);

        }

        else if (j < 300)

        {

                Motor(1, 0);

        }

        else

        {

                j = 0;

        }

        //Update_OI_LEDs();        // located in ifi_code.c

}

In "interrupts.c"
Call to "Encoder_One_Tick()"(in Drive.c) added in Int_3_Handler

EDIT: I attached the drive.c/.h files
The Direction displays correctly, but the count is always 0.

I'm sure I forgot something really simple, but I can't figure it out.

I'll send the complete project to anyone who wants to look at it.

Re: Interrupt issue with new code

Quote:

Originally Posted by EHaskins (Post 667333)

Code:

void Teleop(void)

{

        static int i, j;

        i ++;

        j ++;



        if (i > 20)

        {

                printf("Encoder 1 Direction = %d\r\n", (int)ENCODER_ONE_DIRECTION);

                printf("Encoder 1 = %d\r\n\r\n", (int)Encoder_One_Count());

                i = 0;

        }



             //Run motor to demomstrate proper functioning

        if (j < 100)

        {

                Motor(1, 50);//in drive.c

        }

        else if (j < 150)

        {

                Motor(1, 0);

        }

        else if (j < 250)

        {

                Motor(1, -50);

        }

        else if (j < 300)

        {

                Motor(1, 0);

        }

        else

        {

                j = 0;

        }

        //Update_OI_LEDs();        // located in ifi_code.c

}

I think you are right. The error looks simple to me as well. I think the reason you aren't seeing the count change is because the code in your ISR to do the increment/decrement is commented out. It looks like it should work correctly if the whack whacks and whack star and star whacks were removed.

Code:

void Encoder_One_Tick(void)

{

        //if (ENCODER_ONE_DIRECTION)

        //{

                _countOne ++;

        /*}

        else

        {

                _countOne --;

        }*/

}

Re: Interrupt issue with new code

Quote:

Originally Posted by billbo911 (Post 667427)

Code:

void Encoder_One_Tick(void)

{

        //if (ENCODER_ONE_DIRECTION)

        //{

                _countOne ++;

        /*}

        else

        {

                _countOne --;

        }*/

}

I commented that out when I realized I was having issues. The Bolded line is not commented out.

Re: Interrupt issue with new code

Quote:

Originally Posted by EHaskins (Post 667333)

I'm sure I forgot something really simple, but I can't figure it out.

No, I suspect it's the bug mentioned in this post:

http://www.chiefdelphi.com/forums/sh...0&postcount=78

-Kevin

Re: Interrupt issue with new code

Quote:

Originally Posted by Kevin Watson (Post 667434)

No, I suspect it's the bug mentioned in this post:

http://www.chiefdelphi.com/forums/sh...0&postcount=78

-Kevin

I have corrected that, but it still isn't working. Any ideas?

EDIT: I tried changing to interrupt 1, but still nothing.

Re: Interrupt issue with new code

If it'll help, here's the latest code with encoder support:

http://kevin.org/frc/ifi_frc_encoder_beta.zip

-Kevin

Re: Interrupt issue with new code

Quote:

Originally Posted by Kevin Watson (Post 667947)

If it'll help, here's the latest code with encoder support:

http://kevin.org/frc/ifi_frc_encoder_beta.zip

-Kevin

Works great. I would have liked to know what I missed, but this works.:)

Thanks!