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Unread 25-01-2005, 02:05
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Re: reprogram during a competition

If you need a sufficiently small number of values, table lookup will
save space. It just depends on how many you need. In the general
case, an algorithm will save space and table lookup will optimize for speed.

The use of #define will not necessarily save space (except in your
source files, where you don't care). It depends on how you are doing things.
To save space with constants, you want every reference to the value of the
constant to be to the same memory location. If you just use the define, you
will be storing the constant value everywhere it is used.
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Unread 25-01-2005, 02:17
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Re: reprogram during a competition

I might be totally missing something, but like jgannon says it takes (me at least) way more than 1.5 seconds to download a program to the RC. More like 1.5 minutes. And why dont you simply do the processing on something else (how much does a 386 cost?) and just use the RC for I/O?
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Unread 25-01-2005, 05:11
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Re: reprogram during a competition

Jacob,

At the risk of sounding condescending, I can't believe that anyone is running out of space. If so, take a good hard look at what you are doing.

Programming an embedded system is absolutely nothing like programming a PC.

First rule: Never, never, ever use floating point arithmetic.

Second rule: Never, ever use dynamic allocation of memory.

Third: Avoid pointer manipulations unless you understand what it does in the machine (some dereferencing manipulations are murder).

Look at the assembly code being generated by the compiler. You can see it in the .lst file that is generated when you build your project.
Good Luck,
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As easy as 355/113...
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Unread 25-01-2005, 09:11
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Re: reprogram during a competition

Quote:
Originally Posted by Mike Betts
At the risk of sounding condescending, I can't believe that anyone is running out of space. If so, take a good hard look at what you are doing.
Significant processing between operator input and motor action.
Navigation (and all the trigonometry it requires).
Multiple independently-tuned PID controls.
Adaptive autonomy.

Finally, lots and lots of text for communicating with the camera.

I can easily understand someone running out of space. Last year's robot only did about half of what we have planned for this year, and it's using about 65 percent of the space.
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Unread 25-01-2005, 10:11
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Re: reprogram during a competition

I have to agree with Alan that if you try to dump everything possible this year into the program it can grow large.
Maybe not what you are looking for, but have you tried using the built-in compiler optimization to reduce your program bulk?

In MPLAB
  • Project -> Build Options... -> Project
  • MPLAB C18 tab
  • pulldown categories and select Optimization
  • click "enable all"
I tend not to use the compiler optimization unless necessary, because we've all had problems with optmizers in the past. Just test afterwards to make sure everything is working properly.

You have gotten rid of the IFI printf code, right?
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Unread 25-01-2005, 10:58
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Re: reprogram during a competition

Quote:
Originally Posted by Mark McLeod
Maybe not what you are looking for, but have you tried using the built-in compiler optimization to reduce your program bulk?
With all the text strings and all the interrupts and associated volatile variables floating around in this year's code, I wouldn't expect a whole lot of extra optimization. It's my guess that most "reduced bulk" will still have to come from effective algorithms and efficient implementations rather than compiler tricks.

Fortunately, I have something of a knack for efficient implementations.
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Unread 25-01-2005, 11:23
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Re: reprogram during a competition

Quote:
Originally Posted by Alan Anderson
With all the text strings and all the interrupts and associated volatile variables floating around in this year's code, I wouldn't expect a whole lot of extra optimization.
Made me look.

The default FRC 2.4 version of the code comes in at 18,927 bytes or 55%.
Optimizing gets you down to 14,743 bytes or 43%

Sorry for the thread hijack Jacob. Us old folks tend to ramble on sometimes.

I don't know of any rule that prohibits the downloading of new code as long as it's occurring within the custom circuit rules, and I can't think of any harm that might do from a safety or IFI control perspective.

P.S. My wife was a warhawk. Just had a reunion in Vienna this past summer.
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Last edited by Mark McLeod : 25-01-2005 at 11:51.
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Unread 25-01-2005, 12:02
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Re: reprogram during a competition

Quote:
Originally Posted by Mike Betts
Third: Avoid pointer manipulations unless you understand what it does in the machine (some dereferencing manipulations are murder).
Can you explain this one a little more? I'm used to UNIX programming where I never have to worry about this being a problem, so we used pointers quite a bit last year and plan on the same this year.

Quote:
Originally Posted by Ryan Foley
He brings up a very good point. I believe that in 2003 the Wildstang 111 robot had a Motorola processor on it to do all of the calculations and processing, and the RC itself would be used for only a little bit of the program and the I/O. Go to the Wildstang website and click on "Stang PS" for a bit more information.
You've very close. In 2003 & 2004 the Custom Circuit kept track of our position on the field and every loop of autonomous the RC would ask the CC for the robot's position & heading. Then the RC would determine the path to get to the target, do the driving & arm moving, and recognize when we got to our target. The presentation on our site doesn't show the interface between the RC & CC. For this year we're planning to offload almost all of the positioning & guidance to the CC and have the RC focus on determining what to do based on the strategy, and vision tetra positions.
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Unread 25-01-2005, 14:47
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Re: reprogram during a competition

How do you guys connect the RC and the CC? If you used the ttl port then you are going to have to (actually you probably already did) find a way to hook two things to it at once assuming you are using the camera.

Back on topic however, It seems to be legal to reprogram in a match, but you might have a lot of explaining to do. The thing that will worry the judges the most is the possibility of you screwing with their master code. I would stay away from it for this reason, not to mention all of the reasons already mentioned. You are asking for trouble with both the technical and "legal" aspects of it, when it seems like you could accomplish something the same or better more easily, without the concerns over the rules. Thats just what I think.
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Unread 25-01-2005, 15:06
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Re: reprogram during a competition

thanks for the answer

as for
Quote:
Originally Posted by russell
How do you guys connect the RC and the CC? If you used the ttl port then you are going to have to (actually you probably already did) find a way to hook two things to it at once assuming you are using the camera.
serial communication is over digital IO lines. you can copy IFIs buffers, or write your own. you end up with 16 some odd serial ports (of course, you need to make your own connectors)

the chip by itself runs TTL levels (+5v) for the signal. with serial comunication, most things will cope just fine with +5, (rs232 spec goes to +15v, but we would use +12v), but some things are just pickey. so if you want to be "fully" compatable with all devices, your going to need a RS232 converter chip. any electrionics provider will sell them... you can get 4 converters in one IC for a buck or two
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Last edited by jacob_dilles : 25-01-2005 at 15:16.
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Unread 25-01-2005, 15:30
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Re: reprogram during a competition

If you are going to have another processor on your robot to do the programming, why not use that processor to offload some of the work?

You also need to check with IFI. I wouldn't be suprised if the field controllers freak out while the User processor is being programmed.
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Unread 25-01-2005, 18:46
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Re: reprogram during a competition

Quote:
Originally Posted by Mike Betts
At the risk of sounding condescending, I can't believe that anyone is running out of space. If so, take a good hard look at what you are doing.
I ran out of space with just the default code with the scripting and camera code early in the season. There were virtually no modifications to the code except to put the 2 together, which was extremely little.

The way I solved this was to just enable more obtimizations. If you do advanced debuging, read the compiler manual first. A few of them change break points, which I presume apply to the simulator, too.
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Unread 25-01-2005, 08:33
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Re: reprogram during a competition

Quote:
Originally Posted by russell
I might be totally missing something, but like jgannon says it takes (me at least) way more than 1.5 seconds to download a program to the RC. More like 1.5 minutes. And why dont you simply do the processing on something else (how much does a 386 cost?) and just use the RC for I/O?
He brings up a very good point. I believe that in 2003 the Wildstang 111 robot had a Motorola processor on it to do all of the calculations and processing, and the RC itself would be used for only a little bit of the program and the I/O. Go to the Wildstang website and click on "Stang PS" for a bit more information.
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