Don't Laugh - Remember I'm New ... Robovation Kit

Technical Robotics Education and Curriculum
1

Hi.
Is it possible to program the Robovation Kit such that it will run “autonomously” for a given length of time and then stop? In other words, since we don’t have a RC transmitter / receiver to use right now - can we still get the thing to do what we want without it?
Thanks,
Murf :rolleyes:

2

Yes, this is actually quite easy, and no it was not a dumb question. :slight_smile:

The best I can explain it would be through code:


unsigned long int timer = 0;//Global variable declared right under the includes

...Code ommited for posting purposes...

//This function gets called every 17ms, therefore you just use a global variable that increments everytime this function is called to keep track of the time that is going by.
void Process_Data_From_Master_uP(void)
{
  Getdata(&rxdata);   /* Get fresh data from the master microprocessor. */

  Default_Routine();  /* Optional.  See below. */

  /* Add your own code here. */

  if(timer <= 85)//Both pwms full forward for first 5 seconds (17 * 5= 85)
  {
    pwm07 = 255;
    pwm08 = 255;
  }
  else if(timer > 85 && timer <= 119)//For next 2 seconds turn
  {
    pwm07 = 0;
    pwm08 = 255;
  }
  else //else sit there
  {
    pwm07 = 127;
    pwm08 = 127;
  }

  timer++;//Increment the variable

  printf("PWM OUT 7 = %d, PWM OUT 8 = %d
",(int)pwm07,(int)pwm08);  /* printf EXAMPLE */

  Putdata(&txdata);             /* DO NOT CHANGE! */
}

and there you go. You just have to edit the Process_Data_From_Master_uP function in user_routines.c. Hope I helped :). Basically you just use this function to simulate autonomous, but if you need something to update faster then 17ms you need to place it in a different spot.

3

Thanks Ken! I appreciate the help. :slight_smile:
Murf