Go to Post But I suppose friendly reminders to read the manual are much better than sarcastic ones. - dtengineering [more]
Home
Go Back   Chief Delphi > Technical > Programming
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
Closed Thread
Thread Tools Rate Thread Display Modes
  #1   Spotlight this post!  
Unread 01-12-2005, 20:30
Andrew Blair's Avatar
Andrew Blair Andrew Blair is offline
SAE Formula is FIRST with Gasoline.
FRC #0306 (CRT)
Team Role: Alumni
 
Join Date: Feb 2005
Rookie Year: 2004
Location: Corry
Posts: 1,193
Andrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond repute
Send a message via AIM to Andrew Blair Send a message via Yahoo to Andrew Blair
BEI GyroChip Problems

We have recently begun work with sensors on our 2005 bot, and have been using Kevin Watson's Gyro code, unmodified. We are using a BEI gyro, the model of which can not be discerned. The only clue is that is has a three wire linear input on the top of the gyro, as versus the side, triangular patterned gyro's input. Its wired as per the FIRST manual of 2004, into analog input 1.

When we start the bot, it brings up the terminal window after a few minutes, with the appropriate statements, but exhibits a bias of > 3000, and though the angle is very good about not wavering, so is the gyro output! It seems to take repeated shaking to get the gyro output statement to read much of anything, and only then does the angle increase. It also seems to favor a negative output.

We have switched the BEI gyro #define in order to facilitate the possible rate of our gyro ( as we don't know the actual rate). Nothing works, and we keep getting wacko outputs as said. I have the sneaking suspicion the gyro is kaput. It was found lying around, so it may be broken. Any ideas would be appreciated, as i just about lost my mind trying to figure out what was wrong.
__________________
Reading makes a full man, conference a ready man, and writing an exact man.
-Sir Francis Bacon

"Any intelligent fool can make things bigger, more complex, and more violent. It takes a touch of genius -- and a lot of courage -- to move in the opposite direction."
-Albert Einstein
  #2   Spotlight this post!  
Unread 01-12-2005, 20:55
KenWittlief KenWittlief is offline
.
no team
Team Role: Engineer
 
Join Date: Mar 2003
Location: Rochester, NY
Posts: 4,213
KenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond reputeKenWittlief has a reputation beyond repute
Re: BEI GyroChip Problems

its possible you have it connected wrong. FIRST use to give out similar gyros in the kit of parts several years ago, and as I recall there were two different versions, with different pinouts.

Best way to debug it is to hook a meter to the gyro output and see what its doing when you move it. It should sit at midrange (2.5V) when the gyro is steady, and move up or down as the gyro is moved left and right.

If it wont do this, your code has no hope. Its possible you have the power, gnd and output pins wired the wrong way.
  #3   Spotlight this post!  
Unread 01-12-2005, 20:57
Bharat Nain's Avatar
Bharat Nain Bharat Nain is offline
Registered User
no team
Team Role: Alumni
 
Join Date: Jan 2004
Rookie Year: 2003
Location: New York
Posts: 2,000
Bharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond reputeBharat Nain has a reputation beyond repute
Send a message via AIM to Bharat Nain Send a message via MSN to Bharat Nain
Re: BEI GyroChip Problems

I have the spec. papers for those older gyros somewhere in the robotics room. I will scan them in if I can find them. It is easy enough to distinguish between the two different versions FIRST gave out.
__________________
-= Bharat Nain =-

Whatever you do, you need courage. Whatever course you decide upon, there is always someone to tell you that you are wrong. There are always difficulties arising that tempt you to believe your critics are right. To map out a course of action and follow it to an end requires some of the same courage that a soldier needs. Peace has its victories, but it takes brave men and women to win them. - Ralph Waldo Emerson
  #4   Spotlight this post!  
Unread 01-12-2005, 21:51
Kevin Watson's Avatar
Kevin Watson Kevin Watson is offline
La Cañada High School
FRC #2429
Team Role: Mentor
 
Join Date: Jan 2002
Rookie Year: 2001
Location: La Cañada, California
Posts: 1,335
Kevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond repute
Re: BEI GyroChip Problems

Quote:
Originally Posted by Andrew Blair
We have recently begun work with sensors on our 2005 bot, and have been using Kevin Watson's Gyro code, unmodified. We are using a BEI gyro, the model of which can not be discerned. The only clue is that is has a three wire linear input on the top of the gyro, as versus the side, triangular patterned gyro's input. Its wired as per the FIRST manual of 2004, into analog input 1.

When we start the bot, it brings up the terminal window after a few minutes, with the appropriate statements, but exhibits a bias of > 3000, and though the angle is very good about not wavering, so is the gyro output! It seems to take repeated shaking to get the gyro output statement to read much of anything, and only then does the angle increase. It also seems to favor a negative output.

We have switched the BEI gyro #define in order to facilitate the possible rate of our gyro ( as we don't know the actual rate). Nothing works, and we keep getting wacko outputs as said. I have the sneaking suspicion the gyro is kaput. It was found lying around, so it may be broken. Any ideas would be appreciated, as i just about lost my mind trying to figure out what was wrong.
Are you sure you performed all of the installation steps mentioned in gyro_readme.txt and adc_readme.txt? The data sheet for your gyro is attached.

-Kevin
Attached Files
File Type: pdf gyrochip.pdf (58.4 KB, 128 views)
__________________
Kevin Watson
Engineer at stealth-mode startup
http://kevin.org
  #5   Spotlight this post!  
Unread 01-12-2005, 22:03
Andrew Blair's Avatar
Andrew Blair Andrew Blair is offline
SAE Formula is FIRST with Gasoline.
FRC #0306 (CRT)
Team Role: Alumni
 
Join Date: Feb 2005
Rookie Year: 2004
Location: Corry
Posts: 1,193
Andrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond repute
Send a message via AIM to Andrew Blair Send a message via Yahoo to Andrew Blair
Re: BEI GyroChip Problems

The steps were followed, I believe, but we'll have to double-check. Thanks for the data-sheet Kevin, I googled it but couldn't find one. I'll have to go in and try it tommorrow. Ummm, dumb question, but with all the problems we've had with it, we never found the axis of sensing. Anyone care to real quickly describe it?
__________________
Reading makes a full man, conference a ready man, and writing an exact man.
-Sir Francis Bacon

"Any intelligent fool can make things bigger, more complex, and more violent. It takes a touch of genius -- and a lot of courage -- to move in the opposite direction."
-Albert Einstein
  #6   Spotlight this post!  
Unread 01-12-2005, 22:06
Kevin Watson's Avatar
Kevin Watson Kevin Watson is offline
La Cañada High School
FRC #2429
Team Role: Mentor
 
Join Date: Jan 2002
Rookie Year: 2001
Location: La Cañada, California
Posts: 1,335
Kevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond repute
Re: BEI GyroChip Problems

Quote:
Originally Posted by Andrew Blair
Ummm, dumb question, but with all the problems we've had with it, we never found the axis of sensing. Anyone care to real quickly describe it?
It's in the data sheet.

-Kevin
__________________
Kevin Watson
Engineer at stealth-mode startup
http://kevin.org
  #7   Spotlight this post!  
Unread 01-12-2005, 22:28
Pat Fairbank's Avatar
Pat Fairbank Pat Fairbank is offline
Circuit Breaker
FRC #0254 (The Cheesy Poofs)
Team Role: Engineer
 
Join Date: Mar 2003
Rookie Year: 2001
Location: San Jose, CA
Posts: 2,132
Pat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond reputePat Fairbank has a reputation beyond repute
Send a message via MSN to Pat Fairbank
Re: BEI GyroChip Problems

Quote:
Originally Posted by Andrew Blair
Ummm, dumb question, but with all the problems we've had with it, we never found the axis of sensing. Anyone care to real quickly describe it?
If you put the side with the bolt holes facing downwards, the gyro will detect rotation about the vertical axis.
__________________
Patrick Fairbank
Team 254 | Mentor (2012-)
Team 1503 | Mentor (2007-2011)
Team 296 | Alumnus (2001-2004) | Mentor (2005-2006)

patfairbank.com
  #8   Spotlight this post!  
Unread 02-12-2005, 14:07
Andrew Blair's Avatar
Andrew Blair Andrew Blair is offline
SAE Formula is FIRST with Gasoline.
FRC #0306 (CRT)
Team Role: Alumni
 
Join Date: Feb 2005
Rookie Year: 2004
Location: Corry
Posts: 1,193
Andrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond repute
Send a message via AIM to Andrew Blair Send a message via Yahoo to Andrew Blair
Re: BEI GyroChip Problems

We tested the thing again this afternoon and after taking apart the connection and reconnecting it, the problem was solved. It was correctly hooked up, but something in our original connection was bad. With a little modification to the dead band it will be working beautifully. Once again, thank you Kevin for such a great code repository!
__________________
Reading makes a full man, conference a ready man, and writing an exact man.
-Sir Francis Bacon

"Any intelligent fool can make things bigger, more complex, and more violent. It takes a touch of genius -- and a lot of courage -- to move in the opposite direction."
-Albert Einstein
  #9   Spotlight this post!  
Unread 06-12-2005, 07:57
Andrew Blair's Avatar
Andrew Blair Andrew Blair is offline
SAE Formula is FIRST with Gasoline.
FRC #0306 (CRT)
Team Role: Alumni
 
Join Date: Feb 2005
Rookie Year: 2004
Location: Corry
Posts: 1,193
Andrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond repute
Send a message via AIM to Andrew Blair Send a message via Yahoo to Andrew Blair
Re: BEI GyroChip Problems

Well, a new problem arises. Our gyro works wonderfully now, but it seems that we can' get any pwm outs to the RC. We've adjusted our sampling to 8, and our rate to 200hz, but still to no avail. No red light of death, but no pwm outs. Any suggestions??
__________________
Reading makes a full man, conference a ready man, and writing an exact man.
-Sir Francis Bacon

"Any intelligent fool can make things bigger, more complex, and more violent. It takes a touch of genius -- and a lot of courage -- to move in the opposite direction."
-Albert Einstein
  #10   Spotlight this post!  
Unread 07-12-2005, 02:33
Kevin Watson's Avatar
Kevin Watson Kevin Watson is offline
La Cañada High School
FRC #2429
Team Role: Mentor
 
Join Date: Jan 2002
Rookie Year: 2001
Location: La Cañada, California
Posts: 1,335
Kevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond reputeKevin Watson has a reputation beyond repute
Re: BEI GyroChip Problems

Quote:
Originally Posted by Andrew Blair
Well, a new problem arises. Our gyro works wonderfully now, but it seems that we can' get any pwm outs to the RC. We've adjusted our sampling to 8, and our rate to 200hz, but still to no avail. No red light of death, but no pwm outs. Any suggestions??
I just tried the gyro code with a slight modification to simultaneously sweep a couple of servos through their range while the gyro operated and it worked just fine. Are you sure you've got everything wired correctly? The victors/servos are known to be good?

-Kevin
__________________
Kevin Watson
Engineer at stealth-mode startup
http://kevin.org
  #11   Spotlight this post!  
Unread 07-12-2005, 07:43
Andrew Blair's Avatar
Andrew Blair Andrew Blair is offline
SAE Formula is FIRST with Gasoline.
FRC #0306 (CRT)
Team Role: Alumni
 
Join Date: Feb 2005
Rookie Year: 2004
Location: Corry
Posts: 1,193
Andrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond repute
Send a message via AIM to Andrew Blair Send a message via Yahoo to Andrew Blair
Re: BEI GyroChip Problems

Well, thats why I'm so i'm frustrated. When we load our standard code in, everything works fine. Maybe we accidently forgot to initialize a pwm somewhere? Well, I'll try to move the important sections to our code as you said to. Maybe that'll fix it. I don't think it's your code. I think we might just be overloading our controller. We'll get it eventually...
__________________
Reading makes a full man, conference a ready man, and writing an exact man.
-Sir Francis Bacon

"Any intelligent fool can make things bigger, more complex, and more violent. It takes a touch of genius -- and a lot of courage -- to move in the opposite direction."
-Albert Einstein
  #12   Spotlight this post!  
Unread 07-12-2005, 09:28
Mike Bortfeldt Mike Bortfeldt is offline
Registered User
FRC #1126 (& 1511)
Team Role: Mentor
 
Join Date: Oct 2004
Rookie Year: 2004
Location: Rochester, NY
Posts: 119
Mike Bortfeldt has much to be proud ofMike Bortfeldt has much to be proud ofMike Bortfeldt has much to be proud ofMike Bortfeldt has much to be proud ofMike Bortfeldt has much to be proud ofMike Bortfeldt has much to be proud ofMike Bortfeldt has much to be proud ofMike Bortfeldt has much to be proud of
Re: BEI GyroChip Problems

Andrew,

Silly question, but do you still have the "Putdata(&txdata);" line at the end of the Process_Data_From_Master_uP routine and it's being executed? If that line is missing or not at the end, you may not be passing the new pwm values to the master processor. If your using PWMs 13-16, you need the Generate_Pwms call as well.
You also might want to try printing out the pwm value just before the Putdata call just to verify you have your expected pwm value and it's not getting overwritten somehow.

Mike
  #13   Spotlight this post!  
Unread 07-12-2005, 18:02
Andrew Blair's Avatar
Andrew Blair Andrew Blair is offline
SAE Formula is FIRST with Gasoline.
FRC #0306 (CRT)
Team Role: Alumni
 
Join Date: Feb 2005
Rookie Year: 2004
Location: Corry
Posts: 1,193
Andrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond reputeAndrew Blair has a reputation beyond repute
Send a message via AIM to Andrew Blair Send a message via Yahoo to Andrew Blair
Re: BEI GyroChip Problems

Haha, I feel like a fool. The ultimate problem was caused by me not uncommenting the Default_Routine() in the user initialization. Dang it! Mike got me thinking, and I started to look for where Default_Routine() was called, and found that I had neglected to uncomment it. Well, I should be used to it by now.

Kevin thanks for actually testing the code out for me on your time! I figured it wasn't your code, but it's the thought that counts! Thanks!
__________________
Reading makes a full man, conference a ready man, and writing an exact man.
-Sir Francis Bacon

"Any intelligent fool can make things bigger, more complex, and more violent. It takes a touch of genius -- and a lot of courage -- to move in the opposite direction."
-Albert Einstein
Closed Thread


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump

Similar Threads
Thread Thread Starter Forum Replies Last Post
Vanilla ice cream == car problems?? Ken Leung General Forum 16 22-11-2005 11:07
BEI Gyrochip CyberWolf_22 Electrical 3 15-01-2005 16:27
Robot Rodeo - fixing control problems Gary Dillard Off-Season Events 7 26-10-2004 00:46
Differences programming ADXRS150EBs to BEI Gyrochips? Salik Syed Programming 22 17-03-2004 00:47


All times are GMT -5. The time now is 19:42.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi