We have dug out our old joysticks you know the black ones with 2 red buttons on them. Well the problem is that our pnumatic cylinder does not work when we have the old joystick connected but it runs fine when we have the new joystick connected to port one. I think I have to remap the inputs to the outputs in the code but I don’t know how. So if you could please help that would be great. I realize the you probably need more information but I am not around the bot now so I will edit this later.
Could we please see the code?
Here is the user rountines file our cylinder is connected to relay 2. please let me know if there is anything else you need.
/*******************************************************************************
- FILE NAME: user_routines.c <FRC VERSION>
- DESCRIPTION:
- This file contains the default mappings of inputs
- (like switches, joysticks, and buttons) to outputs on the RC.
- USAGE:
- You can either modify this file to fit your needs, or remove it from your
- project and replace it with a modified copy.
*******************************************************************************/
#define DEADBAND 5
#include “ifi_aliases.h”
#include “ifi_default.h”
#include “ifi_utilities.h”
#include “user_routines.h”
#include “printf_lib.h”
#include “user_Serialdrv.h”
extern unsigned char aBreakerWasTripped;
/*** DEFINE USER VARIABLES AND INITIALIZE THEM HERE **/
/ EXAMPLES: (see MPLAB C18 User’s Guide, p.9 for all types)
unsigned char wheel_revolutions = 0; (can vary from 0 to 255)
unsigned int delay_count = 7; (can vary from 0 to 65,535)
int angle_deviation = 142; (can vary from -32,768 to 32,767)
unsigned long very_big_counter = 0; (can vary from 0 to 4,294,967,295)
*/
/*******************************************************************************
- FUNCTION NAME: Limit_Switch_Max
- PURPOSE: Sets a PWM value to neutral (127) if it exceeds 127 and the
-
limit switch is on. - CALLED FROM: this file
- ARGUMENTS:
-
Argument Type IO Description -
-------- ------------- -- ----------- -
switch_state unsigned char I limit switch state -
*input_value pointer O points to PWM byte value to be limited - RETURNS: void
*******************************************************************************/
void Limit_Switch_Max(unsigned char switch_state, unsigned char *input_value)
{
if (switch_state == CLOSED)
{
if(*input_value > 127)
*input_value = 127;
}
}
/*******************************************************************************
- FUNCTION NAME: Limit_Switch_Min
- PURPOSE: Sets a PWM value to neutral (127) if it’s less than 127 and the
-
limit switch is on. - CALLED FROM: this file
- ARGUMENTS:
-
Argument Type IO Description -
-------- ------------- -- ----------- -
switch_state unsigned char I limit switch state -
*input_value pointer O points to PWM byte value to be limited - RETURNS: void
*******************************************************************************/
void Limit_Switch_Min(unsigned char switch_state, unsigned char *input_value)
{
if (switch_state == CLOSED)
{
if(*input_value < 127)
*input_value = 127;
}
}
/*******************************************************************************
-
FUNCTION NAME: Limit_Mix
-
PURPOSE: Limits the mixed value for one joystick drive.
-
CALLED FROM: Default_Routine, this file
-
ARGUMENTS:
-
Argument Type IO Description -
-------- ---- -- ----------- -
intermediate_value int I -
RETURNS: unsigned char
*******************************************************************************/
unsigned char Limit_Mix (int intermediate_value)
{
static int limited_value;if (intermediate_value < 2000)
{
limited_value = 2000;
}
else if (intermediate_value > 2254)
{
limited_value = 2254;
}
else
{
limited_value = intermediate_value;
}
return (unsigned char) (limited_value - 2000);
}
/*******************************************************************************
-
FUNCTION NAME: User_Initialization
-
PURPOSE: This routine is called first (and only once) in the Main function.
-
You may modify and add to this function. -
CALLED FROM: main.c
-
ARGUMENTS: none
-
RETURNS: void
*******************************************************************************/
void User_Initialization (void)
{
rom const char *strptr = “IFI 2005 User Processor Initialized …”;Set_Number_of_Analog_Channels(SIXTEEN_ANALOG); /* DO NOT CHANGE! */
/* FIRST: Set up the I/O pins you want to use as digital INPUTS. /
digital_io_01 = digital_io_02 = digital_io_03 = digital_io_04 = INPUT;
digital_io_05 = digital_io_06 = digital_io_07 = digital_io_08 = INPUT;
digital_io_09 = digital_io_10 = digital_io_11 = digital_io_12 = INPUT;
digital_io_13 = digital_io_14 = digital_io_15 = digital_io_16 = INPUT;
digital_io_18 = INPUT; / Used for pneumatic pressure switch. /
/
Note: digital_io_01 = digital_io_02 = … digital_io_04 = INPUT;
is the same as the following:
digital_io_01 = INPUT;
digital_io_02 = INPUT;
...
digital_io_04 = INPUT;
*/
/* SECOND: Set up the I/O pins you want to use as digital OUTPUTS. /
digital_io_17 = OUTPUT; / Example - Not used in Default Code. */
/* THIRD: Initialize the values on the digital outputs. */
rc_dig_out17 = 0;
/* FOURTH: Set your initial PWM values. Neutral is 127. */
pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
/* FIFTH: Set your PWM output types for PWM OUTPUTS 13-16.
/* Choose from these parameters for PWM 13-16 respectively: /
/ IFI_PWM - Standard IFI PWM output generated with Generate_Pwms(…) /
/ USER_CCP - User can use PWM pin as digital I/O or CCP pin. */
Setup_PWM_Output_Type(IFI_PWM,IFI_PWM,IFI_PWM,IFI_PWM);
/*
Example: The following would generate a 40KHz PWM with a 50% duty cycle on the CCP2 pin:
CCP2CON = 0x3C;
PR2 = 0xF9;
CCPR2L = 0x7F;
T2CON = 0;
T2CONbits.TMR2ON = 1;
Setup_PWM_Output_Type(USER_CCP,IFI_PWM,IFI_PWM,IFI_PWM);
*/
/* Add any other initialization code here. */
Initialize_Serial_Comms();
Putdata(&txdata); /* DO NOT CHANGE! */
Serial_Driver_Initialize();
printf("%s
", strptr); /* Optional - Print initialization message. */
User_Proc_Is_Ready(); /* DO NOT CHANGE! - last line of User_Initialization */
}
/*******************************************************************************
-
FUNCTION NAME: Process_Data_From_Master_uP
-
PURPOSE: Executes every 26.2ms when it gets new data from the master
-
microprocessor. -
CALLED FROM: main.c
-
ARGUMENTS: none
-
RETURNS: void
*******************************************************************************/
void Process_Data_From_Master_uP(void)
{
static unsigned char i;Getdata(&rxdata); /* Get fresh data from the master microprocessor. */
if ((((signed int)p1_x-127) && 0x7f) < DEADBAND) p1_x=127;
if ((((signed int)p1_y-127) && 0x7f) < DEADBAND) p1_y=127; /puts dead band region on joysticks/
Default_Routine(); /* Optional. See below. */
/* Add your own code here. (a printf will not be displayed when connected to the breaker panel unless a Y cable is used) */
printf("Port1 Y %3d, X %3d, Fire %d, Top %d
",(int)p1_y,(int)p1_x,(int)p1_sw_trig,(int)p1_sw_top); /* printf EXAMPLE */
Generate_Pwms(pwm13,pwm14,pwm15,pwm16);
/* Eample code to check if a breaker was ever tripped. */
if (aBreakerWasTripped)
{
for (i=1;i<29;i++)
{
if (Breaker_Tripped(i))
User_Byte1 = i; /* Update the last breaker tripped on User_Byte1 (to demonstrate the use of a user byte)
Normally, you do something else if a breaker got tripped (ex: limit a PWM output) */
}
}
Putdata(&txdata); /* DO NOT CHANGE! */
}
/*******************************************************************************
- FUNCTION NAME: Default_Routine
- PURPOSE: Performs the default mappings of inputs to outputs for the
-
Robot Controller. - CALLED FROM: this file, Process_Data_From_Master_uP routine
- ARGUMENTS: none
- RETURNS: void
*******************************************************************************/
void Default_Routine(void)
{
/*---------- Analog Inputs (Joysticks) to PWM Outputs-----------------------
*--------------------------------------------------------------------------
- This maps the joystick axes to specific PWM outputs.
*/
pwm01 = p1_y;
pwm02 = p2_y;
pwm03 = p3_y;
pwm04 = p4_y;
pwm05 = p1_x;
pwm06 = p2_x;
pwm07 = p3_x;
pwm08 = p4_x;
pwm09 = p1_wheel;
pwm10 = p2_wheel;
pwm11 = p3_wheel;
pwm12 = p4_wheel;
/*---------- 1 Joystick Drive ----------------------------------------------
*--------------------------------------------------------------------------
- This code mixes the Y and X axis on Port 1 to allow one joystick drive.
- Joystick forward = Robot forward
- Joystick backward = Robot backward
- Joystick right = Robot rotates right
- Joystick left = Robot rotates left
- Connect the right drive motors to PWM13 and/or PWM14 on the RC.
- Connect the left drive motors to PWM15 and/or PWM16 on the RC.
*/
pwm13 = pwm14 = Limit_Mix(2000 + p1_y + p1_x - 127);
pwm15 = pwm16 = Limit_Mix(2000 + p1_y - p1_x + 127);
/*---------- Buttons to Relays----------------------------------------------
*--------------------------------------------------------------------------
- This default code maps the joystick buttons to specific relay outputs.
- Relays 1 and 2 use limit switches to stop the movement in one direction.
- The & used below is the C symbol for AND
/
relay1_fwd = p1_sw_trig & rc_dig_in01; / FWD only if switch1 is not closed. /
relay1_rev = p1_sw_top & rc_dig_in02; / REV only if switch2 is not closed. /
relay2_fwd = p2_sw_trig & rc_dig_in03; / FWD only if switch3 is not closed. /
relay2_rev = p2_sw_top & rc_dig_in04; / REV only if switch4 is not closed. /
relay3_fwd = p3_sw_trig;
relay3_rev = p3_sw_top;
relay4_fwd = p4_sw_trig;
relay4_rev = p4_sw_top;
relay5_fwd = p1_sw_aux1;
relay5_rev = p1_sw_aux2;
relay6_fwd = p3_sw_aux1;
relay6_rev = p3_sw_aux2;
relay7_fwd = p4_sw_aux1;
relay7_rev = p4_sw_aux2;
relay8_fwd = !rc_dig_in18; / Power pump only if pressure switch is off. */
relay8_rev = 0;
/---------- PWM outputs Limited by Limit Switches ------------------------/
Limit_Switch_Max(rc_dig_in05, &pwm03);
Limit_Switch_Min(rc_dig_in06, &pwm03);
Limit_Switch_Max(rc_dig_in07, &pwm04);
Limit_Switch_Min(rc_dig_in08, &pwm04);
Limit_Switch_Max(rc_dig_in09, &pwm09);
Limit_Switch_Min(rc_dig_in10, &pwm09);
Limit_Switch_Max(rc_dig_in11, &pwm10);
Limit_Switch_Min(rc_dig_in12, &pwm10);
Limit_Switch_Max(rc_dig_in13, &pwm11);
Limit_Switch_Min(rc_dig_in14, &pwm11);
Limit_Switch_Max(rc_dig_in15, &pwm12);
Limit_Switch_Min(rc_dig_in16, &pwm12);
/*---------- ROBOT FEEDBACK LEDs------------------------------------------------
*------------------------------------------------------------------------------
- This section drives the “ROBOT FEEDBACK” lights on the Operator Interface.
- The lights are green for joystick forward and red for joystick reverse.
- Both red and green are on when the joystick is centered. Use the
- trim tabs on the joystick to adjust the center.
- These may be changed for any use that the user desires.
*/
if (user_display_mode == 0) /* User Mode is Off */
{ /* Check position of Port 1 Joystick /
if (p1_y >= 0 && p1_y <= 56)
{ / Joystick is in full reverse position /
Pwm1_green = 0; / Turn PWM1 green LED - OFF /
Pwm1_red = 1; / Turn PWM1 red LED - ON /
}
else if (p1_y >= 125 && p1_y <= 129)
{ / Joystick is in neutral position /
Pwm1_green = 1; / Turn PWM1 green LED - ON /
Pwm1_red = 1; / Turn PWM1 red LED - ON /
}
else if (p1_y >= 216 && p1_y <= 255)
{ / Joystick is in full forward position*/
Pwm1_green = 1; /* Turn PWM1 green LED - ON /
Pwm1_red = 0; / Turn PWM1 red LED - OFF /
}
else
{ / In either forward or reverse position /
Pwm1_green = 0; / Turn PWM1 green LED - OFF /
Pwm1_red = 0; / Turn PWM1 red LED - OFF */
} /*END Check position of Port 1 Joystick
/* Check position of Port 2 Y Joystick
(or Port 1 X in Single Joystick Drive Mode) */
if (p2_y >= 0 && p2_y <= 56)
{ /* Joystick is in full reverse position */
Pwm2_green = 0; /* Turn pwm2 green LED - OFF */
Pwm2_red = 1; /* Turn pwm2 red LED - ON */
}
else if (p2_y >= 125 && p2_y <= 129)
{ /* Joystick is in neutral position */
Pwm2_green = 1; /* Turn PWM2 green LED - ON */
Pwm2_red = 1; /* Turn PWM2 red LED - ON */
}
else if (p2_y >= 216 && p2_y <= 255)
{ /* Joystick is in full forward position */
Pwm2_green = 1; /* Turn PWM2 green LED - ON */
Pwm2_red = 0; /* Turn PWM2 red LED - OFF */
}
else
{ /* In either forward or reverse position */
Pwm2_green = 0; /* Turn PWM2 green LED - OFF */
Pwm2_red = 0; /* Turn PWM2 red LED - OFF */
} /* END Check position of Port 2 Joystick */
/* This drives the Relay 1 and Relay 2 "Robot Feedback" lights on the OI. */
Relay1_green = relay1_fwd; /* LED is ON when Relay 1 is FWD */
Relay1_red = relay1_rev; /* LED is ON when Relay 1 is REV */
Relay2_green = relay2_fwd; /* LED is ON when Relay 2 is FWD */
Relay2_red = relay2_rev; /* LED is ON when Relay 2 is REV */
Switch1_LED = !(int)rc_dig_in01;
Switch2_LED = !(int)rc_dig_in02;
Switch3_LED = !(int)rc_dig_in03;
} /* (user_display_mode = 0) (User Mode is Off) */
else /* User Mode is On - displays data in OI 4-digit display*/
{
User_Mode_byte = backup_voltage10; / so that decimal doesn’t get truncated. */
}
} /* END Default_Routine(); */
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
Relay 2 is controlled by the port 2 joystick’s trigger and top buttons. Use the Dashboard program to verify that your old joystick is actually working and that the OI is sending the values to the robot.
One other thing:
if ((((signed int)p1_x-127) && 0x7f) < DEADBAND) p1_x=127;
if ((((signed int)p1_y-127) && 0x7f) < DEADBAND) p1_y=127; /*puts dead band region on joysticks*/
What the heck is this? The comment says you’re applying a dead band (defined to 5 early on in the file), but the code does nothing useful. You’re turning the 0-254 range into a value between -127 and 127, with zero being neutral, and that’s fine. But then you do a logical and with a nonzero value. That essentially results in a joystick neutral (zero) being returned as false (zero), and anything else is returned as true (one). Both are less than 5, so you’re always setting your joystick values to 127.
I think you want something like this instead:
if ((127-DEADBAND < p1_x) && (p1_x < 127+DEADBAND)) p1_x=127;
if ((127-DEADBAND < p1_y) && (p1_y < 127+DEADBAND)) p1_y=127;