Program doesn't effect robot

Technical Programming
1

Ok, now my computer loads programs. The default loads, but only makes one wheel and our gatherer work. When I try to load my program, however, The robot is completely unresponsive of the joysticks.

This is my code from user_routines :

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);

if (p1_sw_trig == 1)
{
pwm03 = 200; // turn on the shooters
pwm04 = 200;

if (p2_sw_top == 0)
{
relay1_fwd = 0;
relay1_rev = 0; //no gather movement durring aiming
pwm08 = 120; //closed

if (p2_sw_trig == 1)
{
pwm06 = p2_x/4; //pan
pwm07 = p2_y/4; //tilt
}
else
{
pwm06 = 127;
pwm07 = 127; //NOTE NOTE! this is for the auto aim code
}
}
else
{
pwm08 = 50; //open
}
if (p2_sw_top == 1)
{
relay1_fwd = 1; //with both tops down, activates gatherer
relay1_rev = 0;
}
else
{
relay1_fwd = 0;
relay1_rev = 0;
}
}

else
{
pwm01 = p1_y; //again, make a #define, probably pwm_1
pwm02 = p2_y; //Also a #define, pwm_2, make sure p1 joystic is on right
}

if (p1_sw_top == 1 && p2_sw_top == 0)
{
relay1_fwd = 0;
relay1_rev = 1; //rev gatherer
}
else if (p1_sw_top == 0 && p2_sw_top == 1)
{
relay1_fwd = 1;
relay1_rev = 0;
}
else
{
relay1_fwd = 0;
relay1_rev = 0;
}

Also, when the terminal window opens, it reads <IFI> and thats it. (Unless it’s the default code, and then it only reads the information for the joystick in port one

ANY HELP??? PLEASE???

2

Are you sure that all the PWM wires are connected properly in correspondence with the program(s)?

3

Did you try inserting printfs for the joystick values (including buttons), to make sure the robot is getting the joystick input?

printf("%d %d %d %d
", p1_y, p2_y, p2_sw_trig, p2_sw_top);

Is everything plugged in (the motors)?

I’m not sure if it was a problem with copying, but there’s no ending curly brace for Default_Routine.

Oh, also, a few other things, that probably aren’t causing your problem, but might cause other problems:
(In the code, I changed all “x == 1” to just “x” and “x == 0” to just “!x”. It’s still exactly the same.)

		if (p2_sw_trig)
		{
			pwm06 = p2_x / 4; //pan
			pwm07 = p2_y / 4; //tilt
		}

That will cause PWMs 6 and 7 to always have a value from 0 to 64, depending on the joystick value (0 to 255). Never mind if that’s what you were trying to do.

	if (!p2_sw_top)
	{
//some code here...
	}
	else
	{
//more code...
	}
	if (p2_sw_top)
	{
//even more code...
	}

If you’re pressing down p2_sw_top, both what is in the else and what is in the if (p2_sw_top) will execute. This probably won’t cause problems, but it’s just sort of redundant.

4

Make doubly sure the call to Default_Routine() is not commented out. (If you’re starting with the 2006 code with camera support, it is unless you changed it.)

5

Right, It was commented out so people testing camera code didnt have there robots motors turn on and start causing havoc. Check into that.

6

How many Joistick can I use in the competition…

7

can anyone help explain rewriting the c programming were a rookie team struggling with it

8

Lots of people in here will help you. Ask a specific question and someone will give you an answer.

Steve

9

how to wire the pressure switch right for our nuematics