New C18 3.0+ Compatible FRC Code

[sparrowkc]

PLEASE I CANNOT TAKE THIS ANYMORE

Any functions I create return seemingly random numbers

for example I put the function

unsigned int Motor_Limit (int motor)
{
static unsigned int lmnewmotor;
if(motor >= 254)
{
lmnewmotor = 254;
}
if(motor <= 0)
{
lmnewmotor = 0;
}
}

In ifi_code.c and a prototype in ifi_code.h. I call it with
motor1 = Motor_Limit((int) motor1);
where motor1 is a pwm value that may be invalid.


IT ALWAYS RETURNS 1919!!!!


WHYYYYYYYYYY

Is this a bug, I have the sensors version and kevin's site said that it was relatively bug free.


We have a demo tomorrow and whenever I try to run my code the robot goes int a spasm.

[Alan Anderson]

Originally Posted by sparrowkc

IT ALWAYS RETURNS 1919!!!!

How do you know what the return value is? I once spent hours trying to debug a routine that seemed to be returning the wrong value, only to discover that the error was in the line of code that prints the value.

But upon further inspection, the problem with your code is rather obvious to someone who hasn't been staring at it for hours. You merely forgot to return the newly computed value.

[sparrowkc]

I cannot adequately express my frustration with myself and the people here who I asked to check this for error. Thank you for pointing out that I DIDNT HAVE IT RETURN ANYTHING AAAAAAAAAAAAA

[Boku-Ni]

I looked at the link that was provided for a version of C18 other than 3.15 but couldn't find it. Can someone point to me where it is? >.< Any help appreciated.

-- Hank

[Joe Ross]

Originally Posted by Boku-Ni

I looked at the link that was provided for a version of C18 other than 3.15 but couldn't find it. Can someone point to me where it is? >.< Any help appreciated.

-- Hank

The link in the first post for C18 has both 3.10 and 3.15.

[1jbinder]

Hi Kevin,
Our robot this year is using four different omnis that need 4 different encoders. The problem is we need to use four encoders this year. We used the encoders 3-6. We noticed that 3-4 were working but 5-6 only gave 0's and 1's. After looking at the ISR's for the encoders 5 and 6 i realized that 3 and 4 only worked on rising edge interrupt but 5 and 6 worked on both. After i changed 5 and 6 to be like 3 and 4 they worked but i do not understand why. there are four variables that i am using, two of which you use that are not declared anywhere. They are Encoder_3_State, Encoder_4_State, Encoder_5_State, and Encoder_6_State. Do you know where these variables are declared. Also why are the encoder 3-4 ISR's different from the encoder 5-6 ISR's.
Thanks in advance,
Julian

[ldeffenb]

Originally Posted by 1jbinder

...They are Encoder_3_State, Encoder_4_State, Encoder_5_State, and Encoder_6_State. Do you know where these variables are declared.

Look at lines 70-86 (at least in my copy) of encoder.c. You'll see the declarations there.

Originally Posted by 1jbinder

.
Also why are the encoder 3-4 ISR's different from the encoder 5-6 ISR's.

From Kevin's encoder_readme.txt from 2 years ago:

Encoder channels one and two are optimized for velocity control
and will generate the least number of interrupts per encoder
count (one per encoder count). These channels may have problems
in position control applications because they can be fooled
into thinking that the encoder shaft is rotating if the shaft
happens to stop very near a phase-A transition and then wobbles
back and forth across that transition.

Encoder channels three and four are optimized for position
control. For these channels, software examines both transitions
of phase-A and can't be fooled into miscounting the number
of encoder counts. The downside to using these channels is that
for a given encoder, they will generate twice the number of
interrupts as channels one and two (two per encoder count).

Encoder channels five and six are just like channels three and
four, but offer the bonus of increasing the precision of your
encoder by a factor of two for free. Unlike channels one
through four, which will increment or decrement on each rising
(zero to one) transition, these two channels will increment or
decrement on both transitions of phase-A. In other words, if
you attach a 64 count-per-revolution encoder to one of these
two channels, you'll read 128 counts when you rotate the shaft
exactly one revolution.

[spack]

Kevin.
I'm trying to get the camera code going with the new 3.0 code. I'm not receiving ACKs or NCKs so it fails at init state 3 return value 131. serial_ports.h/c looks ready to go for port2 9600 baud and interrupts.

Integrated camera.c terminal.c and tracking.c without any issues.

Anything obvious come to mind reagrding serial port initialization?

Chad

[David Doerr]

Originally Posted by spack

Kevin.
I'm trying to get the camera code going with the new 3.0 code... Anything obvious come to mind reagrding serial port initialization?

Chad,

Try setting serial port 2 to 115200 baud.

Dave

[Guy Davidson]

I've been running into an odd problem with encoders.

Encoder 1 works perfectly fine during the teleop period, but does not give me anything during the autonomous one. Encoder 2 works in both teleop and autonomous. The initialization functions is called during both the autonomous and disabled initialization routines.

I am running your latest code build, as far I as know, with MPLAB 8 and C18 3.10. While the robot is shipped already, I'd love to hear if you have any suggestions for what to try.

It could be that the encoder is working, and is giving the correct signals, but is always printing a zero in my debug statement, and the code that is executing makes me believe that it is seeing a zero (as the count). But when I print out the count in the teleop mode, I get numbers that make sense.

[Lafleur]

Kevin

Do you have access to an Explorer 16 board from Microchip??

[Kevin Watson]

Originally Posted by Lafleur

Kevin

Do you have access to an Explorer 16 board from Microchip??

No, most of my experience is with x86, PPC, Cell BE, TI DSP plus lots of FPGA work. My only real experience with PIC is side work using IFI hardware. Why do you ask?

-Kevin

[Lafleur]

Originally Posted by Kevin Watson

No, most of my experience is with x86, PPC, Cell BE, TI DSP plus lots of FPGA work. My only real experience with PIC is side work using IFI hardware. Why do you ask?

-Kevin

I have a early port of your ATD code working on the board with DMA, also have the serial drivers working with a few bugs...

this was done to gain experience with the tools and processors...

[pogenwurst]

Originally Posted by sumadin

I've been running into an odd problem with encoders.

Encoder 1 works perfectly fine during the teleop period, but does not give me anything during the autonomous one. Encoder 2 works in both teleop and autonomous. The initialization functions is called during both the autonomous and disabled initialization routines.

I am running your latest code build, as far I as know, with MPLAB 8 and C18 3.10. While the robot is shipped already, I'd love to hear if you have any suggestions for what to try.

It could be that the encoder is working, and is giving the correct signals, but is always printing a zero in my debug statement, and the code that is executing makes me believe that it is seeing a zero (as the count). But when I print out the count in the teleop mode, I get numbers that make sense.

I had the same issue in autonomous, except with both encoder 1 and encoder 2. I never had the chance to check in teleop mode, though.

I'll try with last year's board, if I can get the time (we removed our encoders from the bot for this reason).

[Kevin Watson]

Originally Posted by sumadin

I've been running into an odd problem with encoders.

Encoder 1 works perfectly fine during the teleop period, but does not give me anything during the autonomous one. Encoder 2 works in both teleop and autonomous. The initialization functions is called during both the autonomous and disabled initialization routines.

I am running your latest code build, as far I as know, with MPLAB 8 and C18 3.10. While the robot is shipped already, I'd love to hear if you have any suggestions for what to try.

It could be that the encoder is working, and is giving the correct signals, but is always printing a zero in my debug statement, and the code that is executing makes me believe that it is seeing a zero (as the count). But when I print out the count in the teleop mode, I get numbers that make sense.

A common reason for this is the wrong printf() format parameter is used. Use %ld instead of %d.

-Kevin