General question.

[XXShadowXX]

Can you define the 'then' of an 'if then' statement as a set.

and if you have a set within a set is it proper to do

if
.set
..case
...if
....set
...if
....set
...case
...case
i hope you get the point

private message me your answer

[XXShadowXX]

Also, for the gear tooth sensor, what should the input be; analog correct?

[Racer26]

Gear tooth sensor is a phased interrupt as I recall, making it digital. It pulses once per tooth, and you count these in an ISR.

as for your original question... I'm not sure what language you're trying to use.

In MPLAB/C18 C, syntax would be

if(condition1){
  //code to run if condition1 is true
}else if(condition2){
  //code to run if condition2 is true and condition1 is false
}else{
  //code to run if both condition1 and condition2 are false.
}

[XXShadowXX]

sry about that


thats wat im basically doing

if (condition)
then a list of more conditions that will be followed if the first " if " is true.

I belive it is called a " switch (set): "




Likewise,
there can be more then one condition correct

Such as

If (Rgear=200
Lgear=210)


likewise, if the gear reverse does the counter still count forward to subtract the negative?

g2g 2 class

[Racer26]

I believe the KoP GTSs use a phased output (Phase A/B) one rises before the other dependent on directionality of the passings... Kevin Watson has explained this much better than I can. So short answer, no it doesnt count back down, long answer yes, if you do it right.

The syntax for a switch statement is as follows:

switch(condition){
  case 1:
    //if condition = 1
    break;
  case 2:
    //if condition = 2
    break;
  case 3:
  case 4:
    //if condition = 3 or 4
    break;
  case 5:
    //if condition = 5
  case 6:
    //if condition = 5 or 6
    break;
  case else:
    //all other cases
    break;
}

[XXShadowXX]

thank you very much

[Racer26]

S'what we're here for. No Problem.

[XXShadowXX]

ok here is my question if pseudo-code

code:

#define pwm1 = Rmotor1
#define pwm2 = Rmotor2
#define pwm3 = Lmotor3
#define pwm4 = Lmotor4
#define digital_input_1 = func1
#define digital_input_2 = func2
#define digital_input_3 = func3
#define digital_input_4 = func4


switch (timer <=1)
.Case0:
..If (Rgear = 0
.......Lgear = 0)
.Case1:
..If (Rgear =
......Lgear = ) /* gear count unknown at this time */
.Case2:
..If (Rgear =
.......Lgear = )
.....Switch (Func2 = 0
.................Func3 = 0)
.......Case0:
.......Case1:
.......Case2:
.Case3:
......Switch (Func2 = 1
.................Func3 = 0)

ok the periods r there to save indetions because idk how to anyother way, the periods have no point in code

[Racer26]

Originally Posted by XXShadowXX

#define pwm1 = Rmotor1
#define pwm2 = Rmotor2
#define pwm3 = Lmotor3
#define pwm4 = Lmotor4
#define digital_input_1 = func1
#define digital_input_2 = func2
#define digital_input_3 = func3
#define digital_input_4 = func4
#define analog_input_1 = Rgear
#define analog_input_2 = Lgear

this should look like

#define Rmotor1 pwm01
#define Rmotor2 pwm02
#define Lmotor3 pwm03
#define Lmotor4 pwm04
#define func1 rc_dig_in01
#define func2 rc_dig_in02
#define func3 rc_dig_in03
#define func4 rc_dig_in04
#define Rgear Get_Analog_Value(rc_ana_in01) //if this is a GTS, it should be a digital input that's capable of interrupts (i recommend dig01/02)
#define Lgear Get_Analog_Value(rc_ana_in02)

Originally Posted by XXShadowXX

If (func1=1)
/*idk, how to program for raising and locking arm.*/
/*But, the arm has to be raised here. */
If (func4=1)
Rmotor1 = 127
Rmotor2 = 127
Lmotor3 = 127
Lmotor4 = 127

this part looks fine, just remember to curly brace your if blocks

Originally Posted by XXShadowXX

switch (Set):
Case0:
If (Rgear = 0
Lgear = 0)
Rmotor1 = 254
Rmotor2 = 254
Lmotor3 = 254
Lmotor4 = 254
Case1:
If (Rgear =
Lgear = ) /* gear count unknown at this time */
Rmotor1 = 254
Rmotor2 = 254
Lmotor3 = 0
Lmotor4 = 0
Case2:
If (Rgear =
Lgear = )
Rmotor1 = 127
Rmotor2 = 127
Lmotor3 = 127
Lmotor4 = 127
Switch (Func2 = 0
Func3 = 0)
Case0:
If (Rgear =
Lgear = )
Rmotor1 = 254
Rmotor2 = 254
Lmotor3 = 254
Lmotor4 = 254
Case1:
If (Rgear =
Lgear = )
Rmotor1 = 254
Rmotor2 = 245
Lmotor3 = 0
Lmotor4 = 0
Case2:
If (Rgear =
Lgear = )
Rmotor1 = 254
Rmotor2 = 254
Lmotor3 = 254
Lmotor4 = 254
Case3:
If (Rgear =
Lgear = )
Rmotor1 = 127
Rmotor2 = 127
Lmotor3 = 127
Lmotor4 = 127

I think what you're trying to do here is a dead reckoning type autonomous mode.

It appears you're trying to build a state machine (variable set is your state counter)

I think you want something along this line, although, personally, I would just use an if-elseif structure:

switch(autostate){
  case 0:
    if(Lgear < 200 && Rgear < 200){ // && is the logical AND operator
      //drive forward
    }else{
      autostate++;
    }
    break;
  case 1:
    if(Rgear < 500 && Lgear < 500){
      //Turn Left
    }else{
      autostate++;
    }
    break;
}

and so on.

[XXShadowXX]

yes thats basically it. But my orginial question still stands can i have several switchs

Code:

PHP Code:

Switch (func2=1)
 Case0:
 Case1:
Switch (func1=1)
 Case0:
 Case1:
/*blah blah blah*/ 


[Racer26]

Well, a switch's condition can't be func2 = 1 (the switch is ON func2)

IMO switches are more trouble than they are worth

I would just use something like this

if(func1 == 1){ //remember, == is equality test, = is assignment
  //do stuff if func1 is true
  if(func2 == 1){
    //do stuff if func1 and func2 are true
  }else{
    //do stuff if func1 is true and func2 is false
  }
}else{
  //do stuff if func1 is false
  if(func2 == 1){
    //do stuff if func1 is false and func2 is true
  }else{
    //do stuff if func1 and func2 are false
  }
}

[XXShadowXX]

My assuption was that the ir board would connect to the controller by 4 pwm cables.

Each connection would eather get a 1 or 0 (1 signal recieved, 0 no signal) therefore i use that in code.
See


code:

PHP Code:

#define func1=digital_input_1 /*or what ever*/

If (func1 = 1) /*singal 1 is being recieved by ir board*/
  Be awesome!
If (func1 = 0) /*signal 1 not being recieved by ir board*/
 Be lame!