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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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