|
Re: 2002 FRC Controller...
Ok, so all the errors caused by the PWM commands i commented out. i changed the serout as well. here is the full code. Im not worrying about the pot for steering until i can get the rest working. As you will see i was not able to get the rear wheels to stop while in high gear and im not sure what variables are needed or not. maybe you can take out the comments and see if you get the same errors i get. This was taken from the Default code and i'm not sure what i do or dont need to functionality
Thanks Mark for your help, i know this is probably annoying you by now
Code:
' PROGRAM: CK4 Full Size Code
' Written by: B Gallo
' Date: 2008 Jul 14
'
' 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 Primary Driver Steering
p2_x VAR byte 'Port 2, X-axis on Joystick n/a
p3_x VAR byte 'Port 3, X-axis on Joystick Secondary Driver Moni Krunch Steering
p4_x VAR byte 'Port 4, X-axis on Joystick n/a
p1_y VAR byte 'Port 1, Y-axis on Joystick Primary Driver Forward/Reverse
p2_y VAR byte 'Port 2, Y-axis on Joystick n/a
p3_y VAR byte 'Port 3, Y-axis on Joystick Secondary Driver Mini Krunch Forward/Reverse
p4_y VAR byte 'Port 4, Y-axis on Joystick n/a
p1_wheel VAR byte 'Port 1, Wheel on Joystick n/a
p2_wheel VAR byte 'Port 2, Wheel on Joystick n/a
p3_wheel VAR byte 'Port 3, Wheel on Joystick n/a
p4_wheel VAR byte 'Port 4, Wheel on Joystick n/a
p1_aux VAR byte 'Port 1, Aux on Joystick n/a
p2_aux VAR byte 'Port 2, Aux on Joystick n/a
p3_aux VAR byte 'Port 3, Aux on Joystick n/a
p4_aux VAR byte 'Port 4, Aux on Joystick n/a
'---------- 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 Steering Potentiometer
'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
emergency_stop VAR byte 'Stop Robot until Power Cycle
'=============================================================================================================
'========== 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 n/a
p1_sw_top VAR oi_swA.bit1 'Joystick Top Button, same as Port4 pin8 n/a
p1_sw_aux1 VAR oi_swA.bit2 'Aux input, same as Port4 pin9 n/a
p1_sw_aux2 VAR oi_swA.bit3 'Aux input, same as Port4 pin15 n/a
p3_sw_trig VAR oi_swA.bit4 'Joystick Trigger Button, same as Port2 pin5 n/a
p3_sw_top VAR oi_swA.bit5 'Joystick Top Button, same as Port2 pin8 n/a
p3_sw_aux1 VAR oi_swA.bit6 'Aux input, same as Port2 pin9 n/a
p3_sw_aux2 VAR oi_swA.bit7 'Aux input, same as Port2 pin15 n/a
p2_sw_trig VAR oi_swB.bit0 'Joystick Trigger Button Switch to High Gear
p2_sw_top VAR oi_swB.bit1 'Joystick Top Button Switch to Low Gear
p2_sw_aux1 VAR oi_swB.bit2 'Aux input n/a
p2_sw_aux2 VAR oi_swB.bit3 'Aux input Emergency Stop
p4_sw_trig VAR oi_swB.bit4 'Joystick Trigger Button Release Mini Krunch
p4_sw_top VAR oi_swB.bit5 'Joystick Top Button Open Left Claw
p4_sw_aux1 VAR oi_swB.bit6 'Aux input Open Right Claw
p4_sw_aux2 VAR oi_swB.bit7 'Aux input Emergency Stop
'---------- Aliases for each RC switch input -----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Below are aliases for the digital inputs located on the Robot Controller.
rc_sw1 VAR rc_swA.bit0 'Pressure Switch
rc_sw2 VAR rc_swA.bit1 'n/a
rc_sw3 VAR rc_swA.bit2 'n/a
rc_sw4 VAR rc_swA.bit3 'n/a
rc_sw5 VAR rc_swA.bit4 'n/a
rc_sw6 VAR rc_swA.bit5 'n/a
rc_sw7 VAR rc_swA.bit6 'n/a
rc_sw8 VAR rc_swA.bit7 'n/a
rc_sw9 VAR rc_swB.bit0 'n/a
rc_sw10 VAR rc_swB.bit1 'n/a
rc_sw11 VAR rc_swB.bit2 'n/a
rc_sw12 VAR rc_swB.bit3 'n/a
rc_sw13 VAR rc_swB.bit4 'n/a
rc_sw14 VAR rc_swB.bit5 'n/a
rc_sw15 VAR rc_swB.bit6 'n/a
rc_sw16 VAR rc_swB.bit7 'n/a
'---------- Aliases for each RC Relay outputs ----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Below are aliases for the relay outputs located on the Robot Controller.
relay1_fwd VAR RelayA.bit0 'Compressor
relay1_rev VAR RelayA.bit1 'n/a
relay2_fwd VAR RelayA.bit2 'High Gear
relay2_rev VAR RelayA.bit3 'Low Gear
relay3_fwd VAR RelayA.bit4 'Open Left Claw
relay3_rev VAR RelayA.bit5 'Close Left Claw
relay4_fwd VAR RelayA.bit6 'Open Right Claw
relay4_rev VAR RelayA.bit7 'Close Right Claw
relay5_fwd VAR RelayB.bit0 'Team Color Light
relay5_rev VAR RelayB.bit1 'n/a
relay6_fwd VAR RelayB.bit2 'n/a
relay6_rev VAR RelayB.bit3 'n/a
relay7_fwd VAR RelayB.bit4 'n/a
relay7_rev VAR RelayB.bit5 'n/a
relay8_fwd VAR RelayB.bit6 'n/a
relay8_rev VAR RelayB.bit7 'n/a
'---------- 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 0
c_p3_y CON 1
c_p4_y CON 0
c_p1_x CON 1
c_p2_x CON 0
c_p3_x CON 1
c_p4_x CON 0
c_p1_wheel CON 0
c_p2_wheel CON 0
c_p3_wheel CON 0
c_p4_wheel CON 0
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 1
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,dataInitVolt]
Input COMA
high COMB
Output COMC
low COMC
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'====================================== EMERGENCY STOP COMMAND INITIALIZE ====================================
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
emergency_stop = 0
'=============================================================================================================
'========== 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,sensor5,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_wheel,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 = 1 &~ rc_sw1 'Relay 1 Forward, unless rc_sw1 is ON Compressor ON
relay1_rev = 0 ' Compressor OFF
relay2_fwd = p2_sw_trig 'Port 2 Trigger = Relay 2 Forward, High Speed
relay2_rev = p2_sw_top 'Port 2 Thumb = Relay 2 Reverse, Low Speed
relay3_fwd = 1 'Relay 3 Forward Left Claw Closed
relay3_rev = p4_sw_top 'Port Thumb = Relay 3 Reverse Left Claw Open
relay4_fwd = 1 'Port 4 Trigger = Relay 4 Forward Right Claw Closed
relay4_rev = p4_sw_aux1 'Port 4 Thumb = Relay 4 Reverse Right Claw Open
relay5_fwd = 1 'Relay 5 Forward = Team Color Light Always on
relay5_rev = 0 '
'relay6_fwd = '
'relay6_rev = '
'relay7_fwd = '
'relay7_rev = '
'relay8_fwd = '
'relay8_rev = '
'---------- 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 p1_x > 129 then p1_x_not_127
if p1_x < 125 then p1_x_not_127
Out10 = 1
Out11 = 1
goto exit_p1_x_test
p1_x_not_127:
Out10 = p1_x/216 'LED is ON when Port 1 X is full forward
Out11 = ~(p1_x/56 max 1) 'LED is ON when Port 1 X is full reverse
exit_p1_x_test:
skip_this_code:
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'====================================== Driving Code =========================================================
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'---------- Primary Drive ------------------------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This code Tells the robot to put forth power to motors for forward and backward movements
' Joystick forward = Robot forward
' Joystick backward = Robot backwards
' PWM1 = p1_y
' PWM2 = p1_y
' PWM3 = p1_y
'---------- Primary Steer ------------------------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This code Tells the robot to steer left or right depending on the potentiometer values
' Joystick forward = Robot forward
' Joystick backward = Robot backwards
' PWM4 = p1_x
'---------- Secondary Drive (Minikrunch) ---------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This code Tells the robot to put forth power to motors for forward and backward movements on Mini Krunch
' Joystick forward = Robot forward
' Joystick backward = Robot backwards
' PWM5 = p3_y
'---------- Secondary Steer (Minikrunch) ---------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This code Tells the robot to steer left or right on Mini Krunch
' Joystick forward = Robot forward
' Joystick backward = Robot backwards
' PWM6 = p3_x
'---------- Secondary Drive (Minikrunch) ---------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This code Tells the robot to put forth power to motors for forward and backward movements
' Joystick forward = Robot forward
' Joystick backward = Robot backwards
' PWM5 = p3_y
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'====================================== END Driving 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 Compressor ON
' Out12 = rc_sw1 = 1 'LED is ON when Pressure Switch = 1 Up to Pressure
' Out15 = relay2_fwd 'LED is ON when Relay 2 is CW High Gear
' Out14 = relay2_rev 'LED is ON when Relay 2 is CCW Low Gear
' 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:
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'====================================== Driving Code Limitations =============================================
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'---------- Rear wheels dont move while in High gear----------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
'if relay2_fwd = 1 then next1:
' PWM2 = 127
'next1:
'
'if relay2_fwd = 1 then next2:
' PWM3 = 127
'
'next2:
'---------- Rear wheels move while in Low gear----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
'if relay2_fwd = 0 then next3:
' PWM2 = p1_y
'next3:
'
'if relay2_fwd = 0 then next4:
' PWM3 = p1_y
'next 4:
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'====================================== END Driving Code Limitations =========================================
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'====================================== EMERGENCY STOP COMMAND CHECK =========================================
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'If p2_sw_aux1 = 1 then emergency_stop = 1
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
'====================================== EMERGENCY STOP COMMAND ===============================================
'~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If emergency_stop = 1 then nevermind:
'PWM1 = 127 'Front Drive Motor
'PWM2 = 127 'Rear Left Drive Motor
'PWM3 = 127 'Rear Right Drive Motor
'PWM4 = 127 'Steering Motor
'PWM5 = 127 'Mini Krunch Drive Motor
'PWM6 = 127 'Mini Krunch Steering Motor
'PWM7 = 127 'Mini Krunch Release Servo
relay1_fwd = 0 'Compressor
relay2_fwd = 0 'High Gear
relay2_rev = 1 'Low Gear
relay3_fwd = 1 'Open Left Claw
relay3_rev = 0 'Close Left Claw
relay4_fwd = 1 'Open Right Claw
relay4_rev = 0 'Close Right Claw
relay5_fwd = 0 'Team Color Light
nevermind:
'=============================================================================================================
'========== 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),(PWM2),(PWM3),(PWM4),(PWM5),(PWM6),(PWM7),relayA,relayB]
Serout USERCPU, OUTBAUD, [255,255,p1_y,p1_y,p1_y,p1_x,p3_y,p3_x,127,relayA,relayB]
Goto MainLoop:
Stop
__________________
Team 79 Alumni '11- Present
Team 79 Driver '09, '10
Team 79 Senior CAD Designer '09, '10
Team 79 President '09
Team 79 Electrical Sub Team Leader '08, '09
|