I’m trying to clarify something. During hybrid mode, we are able to use the IR remote by RoboCoach right? If so, do I need to program my autonomous to recognize IR commands, or does having it in the user_routines.c file the correct way how to do it?
After you train the IR board (see the manual for details), it’s simple. The board uses four digital inputs, and each input is 1 if it’s respective trained signal is being received, 0 otherwise.
I forget the exact digital input numbers, though, and I don’t have our code right now. (It’s in the hallway being tested.)
EDIT: Apparently, the digital input numbers are just the four digital inputs into which you plug the IR board.
I’m pretty sure you read my post wrong. The IR remote is programmed, but I am talking about the actual code as in C.
If you connected the IR board to digital inputs 1-4, then in the code, you use: rc_dig_in01, rc_dig_in02, rc_dig_in03, rc_dig_in04. If the button that you trained first is pressed, rc_dig_in01 is 1. Otherwise, it’s 0. The second button is rc_dig_in02, etc.
It would be understandable to misinterpret the first post, I’m not quite sure myself what you mean. If you want your autonomous to react to IR signals, then, yes, your autonomous code will have to change depending on that signal. I’d think a few IFs in the autonomous would suffice. But what exactly are you trying to say?
That’s all I needed to know. My IR board code is currently in Default_Routine under user_routines.c, so from what I’m hearing, it needs to go under User_Autonomous_Code under user_routines_fast.c. Is that correct?
Edit: The PWM cables are currently conncected to the digital 15-18.
That would be correct. Otherwise it would respond in teleoperated.
I’m having a huge programming error as I’m trying to do this right now. Please check the category User_Autonomous_code to see if I did something wrong. The error was the line “void Process_Data_From_Local_IO(void)” which I made no changes to.
/*******************************************************************************
- FILE NAME: user_routines_fast.c <FRC VERSION>
- DESCRIPTION:
- This file is where the user can add their custom code within the framework
- of the routines below.
- USAGE:
- You can either modify this file to fit your needs, or remove it from your
- project and replace it with a modified copy.
- OPTIONS: Interrupts are disabled and not used by default.
*******************************************************************************/
#include “ifi_aliases.h”
#include “ifi_default.h”
#include “ifi_utilities.h”
#include “user_routines.h”
#include “user_Serialdrv.h”
#include “gyro.h”/*** DEFINE USER VARIABLES AND INITIALIZE THEM HERE ***/
int Timer=0;
char STAGE=INITIAL_FORWARD;/*******************************************************************************
- FUNCTION NAME: InterruptVectorLow
- PURPOSE: Low priority interrupt vector
- CALLED FROM: nowhere by default
- ARGUMENTS: none
- RETURNS: void
- DO NOT MODIFY OR DELETE THIS FUNCTION
*******************************************************************************/
#pragma code InterruptVectorLow = LOW_INT_VECTOR
void InterruptVectorLow (void)
{
_asm
goto InterruptHandlerLow /jump to interrupt routine/
_endasm
}/*******************************************************************************
- FUNCTION NAME: InterruptHandlerLow
- PURPOSE: Low priority interrupt handler
- If you want to use these external low priority interrupts or any of the
- peripheral interrupts then you must enable them in your initialization
- routine. Innovation First, Inc. will not provide support for using these
- interrupts, so be careful. There is great potential for glitchy code if good
- interrupt programming practices are not followed. Especially read p. 28 of
- the “MPLAB® C18 C Compiler User’s Guide” for information on context saving.
- CALLED FROM: this file, InterruptVectorLow routine
- ARGUMENTS: none
- RETURNS: void
******************************************************************************/
#pragma code
#pragma interruptlow InterruptHandlerLow save=PROD / You may want to save additional symbols. */void InterruptHandlerLow ()
{
unsigned char int_byte;
if (INTCON3bits.INT2IF && INTCON3bits.INT2IE) /* The INT2 pin is RB2/DIG I/O 1. /
{
INTCON3bits.INT2IF = 0;
}
else if (INTCON3bits.INT3IF && INTCON3bits.INT3IE) / The INT3 pin is RB3/DIG I/O 2. /
{
INTCON3bits.INT3IF = 0;
}
else if (INTCONbits.RBIF && INTCONbits.RBIE) / DIG I/O 3-6 (RB4, RB5, RB6, or RB7) changed. /
{
int_byte = PORTB; / You must read or write to PORTB /
INTCONbits.RBIF = 0; / and clear the interrupt flag /
} / to clear the interrupt condition. /
else
{
CheckUartInts(); / For Dynamic Debug Tool or buffered printf features. */
}
}/*******************************************************************************
FUNCTION NAME: User_Autonomous_Code
PURPOSE: Execute user’s code during autonomous robot operation.
You should modify this routine by adding code which you wish to run in
autonomous mode. It will be executed every program loop, and not
wait for or use any data from the Operator Interface.
CALLED FROM: main.c file, main() routine when in Autonomous mode
ARGUMENTS: none
RETURNS: void
******************************************************************************/
void User_Autonomous_Code(void)
{
/ Initialize all PWMs and Relays when entering Autonomous mode, or else it
will be stuck with the last values mapped from the joysticks. Remember,
even when Disabled it is reading inputs from the Operator Interface.
/
pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
relay1_fwd = relay1_rev = relay2_fwd = relay2_rev = 0;
relay3_fwd = relay3_rev = relay4_fwd = relay4_rev = 0;
relay5_fwd = relay5_rev = relay6_fwd = relay6_rev = 0;
relay7_fwd = relay7_rev = relay8_fwd = relay8_rev = 0;
STAGE=INITIAL_FORWARD;
Timer=0;
while (autonomous_mode) / DO NOT CHANGE! /
{
if (statusflag.NEW_SPI_DATA) / 26.2ms loop area /
{
Getdata(&rxdata); / DO NOT DELETE, or you will be stuck here forever! *//* Add your own autonomous code here. */{
static char latch=0, IR_cmd=0;
unsigned char sensorReading;//**** Check the IR Sensor for a new command
sensorReading = PORTJ>>4; // Combined digital inputs 15-18if (latch == 1)
{
if (sensorReading == 0)
{
latch = 0; // Take only the 1st reading to avoid being caught by a half & half state of the IR sensor
}
}
else if (sensorReading != 0)
{
latch = 1;if (sensorReading == 8) IR_cmd = 1; else if (sensorReading == 4) IR_cmd = 4; else if (sensorReading == 2) IR_cmd = 2; else if (sensorReading == 1) IR_cmd = 3; printf("IR_cmd = %d", IR_cmd);
}switch(IR_cmd)
{
case 0:
break;case 1: pwm01 = 127; pwm02 = 127; break; case 2: pwm01 = 254; pwm02 = 0; break; case 3: pwm01 = 0; pwm02 = 254; break; case 4: pwm01 = 254; pwm02 = 254; }if (user_display_mode != 0) /* User Mode is On */
{
User_Mode_byte = sensorReading; //Show on the OI digital display
}Process_Gyro_Data(); /* Gyro ADC Update*/
switch (STAGE) { case INITIAL_FORWARD: if (Timer < 114) { pwm01=pwm02=pwm03=pwm04=255; } else { STAGE=INITIAL_LEFT_TURN; } break; case INITIAL_RIGHT_TURN: if (Timer < 200) { pwm01=pwm03=0; pwm02=pwm04=255; } else { STAGE=FORWARD; } break; case INITIAL_LEFT_TURN: if (Timer < 25) { pwm01=pwm03=255; pwm02=pwm04=0; } else { //STAGE=FORWARD; STAGE=0; } break; case FORWARD: if (Timer < 50) { pwm01=pwm02=pwm03=pwm04=255; } else { STAGE=BACKWARD; } break; case BACKWARD: if (Timer < 400) { pwm01=pwm03=0; pwm02=pwm04=0; } else { STAGE=FORWARD; } break; default: pwm01=pwm02=pwm03=pwm04=127; break; } Generate_Pwms(pwm13,pwm14,pwm15,pwm16); Putdata(&txdata); /* DO NOT DELETE, or you will get no PWM outputs! */ Timer++; }}
}/*******************************************************************************
- FUNCTION NAME: Process_Data_From_Local_IO
- PURPOSE: Execute user’s realtime code.
- You should modify this routine by adding code which you wish to run fast.
- It will be executed every program loop, and not wait for fresh data
- from the Operator Interface.
- CALLED FROM: main.c
- ARGUMENTS: none
- RETURNS: void
******************************************************************************/
void Process_Data_From_Local_IO(void)
{
/ Add code here that you want to be executed every program loop. */Process_Gyro_Data(); /* Gyro ADC Update*/
}
/*******************************************************************************
- FUNCTION NAME: Serial_Char_Callback
- PURPOSE: Interrupt handler for the TTL_PORT.
- CALLED FROM: user_SerialDrv.c
- ARGUMENTS:
Argument Type IO Description-------- ---- -- -----------data unsigned char I Data received from the TTL_PORT- RETURNS: void
*******************************************************************************/void Serial_Char_Callback(unsigned char data)
{
/* Add code to handle incomming data (remember, interrupts are still active) */
}/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
Check your braces over by the next function up, the void User_Autonomous_Code(void). The compiler errors aren’t very helpdul with line numbers. I strongly suspect this is the case.
The braces were removed, but it’s still giving me the syntax error.
Alright, giving this code closer inspection. You need one more brace to close the random brace hovering below the /* Add your own autonomous code here */ line, not removing the braces at the bottom. Or just eliminate that brace. That should fix the problem. Indentation is a good thing!
To avoid this problem in the future, I suggest using an editor with brace/parenthesis highlighting and block collapsing, such as Notepad++, which supports C, among other languages.