WE HAVE 4 SPIKES THAT WILL CONTROL SPIKES. THE SPIKES CONTROL THE FOLLOWING:
SPIKE 1: DOUBLE SOLENOID
SPIKE 2: SINGLE SOLENOID
SPIKE 3: COMPRESSOR
SPIKE 4: DOUBLE SOLENOID
WE CANNOT GET THE PNEUMATICS TO WORK BECAUSE WE DONT KNOW HOE TO PROGRAM THE RELAYS.SOMEONE PLEASE HELP!!!
well, the compressor is easy:
relay3_fwd = !rc_dig_in18;
Wire the compressor’s + and - leads to the +/- on the output of the 3rd spike, and wire the pressure switch in the pneumatic system into the 18th digital input.
single solenoids are similarly easy:
relayN_fwd = 1; //to go
relayN_fwd = 0; //to stop
wire the solenoid to the +/- leads of the spike.
double solenoids are slightly trickier.
different people do them different ways, but 1075 in the past has coded them by wiring the +ve’s of each side of the double solenoid to + and - on the spike, and wiring the -ve’s of each side of the double solenoid to the ground reference on the robot. switching _fwd gives one direction, and _rev goes the other way.
But how would you program to turn the switch on and off with the click of the trigger
Would it be
if (p1_sw_trig == 1)
{
relay2_fwd = 1; //to go
}
else
{
relay3_fwd = 0; //to stop
}
would this work for having the switch be in relay2 for on and relay3 is for the switch off. Thanks
if your going to do that you will have to hold the trigger while you want that action. your going to need a much more complicated code to have it switch on by pressing the trigger once.and have your device turn on.
But if i wired a switch to the wires in the controller and bypass the trigger to replace with a switch, would that work?
Yes, this would work.
We have a totally custom OI. Our box has 4 custom switches on it, along with an xbox port for our controller. We also have 4 different voltages on board the box for different devices.
But in short, yes. Give it a try and see what happens! Let us know your results so that we can give you a hand.
Jacob
It’s actually fairly simple to have the trigger control an action with the pneumatics. What have you to do is declare some variable like handstate.
Then when your trigger is pressed changed the value of handstate to 1 or 0. Then when the trigger is pressed you know whether your hand is opened or closed and you can do an action based on it.
int handstate;
handstate = 0; //default position for whatever your using
if (p1_sw_trig == 1 && handstate == 0)
{
relay2_fwd = 1;
handstate = 1;
}
if (p1_sw_trig == 1 && handstate == 1)
{
relay2_rev = 1;
handstate = 0;
}
Wouldn’t that code just rapidly switch between forward and reverse relays? The handstate would immediately change to 1 when the trigger is pressed, so the next if statement will be true and the relay will be set to reverse. You need to check when the trigger is depressed. Something like:
int handstate;
handstate = 0; //default position for whatever your using
if (p1_sw_trig == 1 && handstate == 0)
{
relay2_fwd = 1;
handstate = 1;
}
if (p1_sw_trig == 0 && handstate == 1)
{
handstate = 2;
}
if (p1_sw_trig == 1 && handstate == 2)
{
relay2_fwd = 1;
handstate = 3;
}
if (p1_sw_trig == 0 && handstate == 3)
{
handstate = 0;
}
I think. Please correct me if I am wrong.
Oops. Sorry I think it should be
int handstate;
handstate = 0; //default position for whatever your using
if (p1_sw_trig == 1 && handstate == 0)
{
relay2_fwd = 1;
handstate = 1;
}
else if (p1_sw_trig == 1 && handstate == 1)
{
relay2_rev = 1;
handstate = 0;
}
Though I think your code would work too.
the code will work, but you would need a timer or something, because if this code is evaluated more that once while the button is held down, the state would alternate very rapidly
I had a similar issue when programming the pneumatics for our upper/lower claws, wrist, extension, and lateral drive. Let me show you how I solved the issue.
if (CLAW1IN == 1 && clawTimer < 3)
{
clawTimer++;
}
else if (CLAW1IN == 1 && clawTimer >= 3 && clawTest == 0)
{
CLAWFWD = !CLAWFWD;
CLAWREV = !CLAWREV;
clawTest = 1;
}
else if (CLAW1IN == 0 && clawTimer >= 3)
{
clawTimer = 0;
clawTest = 0;
}
In this case we use double action solenoids, so if you just use single ignore the CLAWREV. The clawTimer is used as a measure of necessary depression of the trigger to create a change (eliminating accidental presses) and clawTest is a signal to keep the values from changing again. However, you do need to make sure for doubles that you initialize them as 1, 0, or 0, 1 to begin with, or you’ll get 0, 0, and 1, 1 values for the solenoid, I.E. nothing happening.
EDIT:
Oops, forgot to fill in for the definitions.
#define CLAW1IN p1_sw_aux1
#define CLAWFWD relay2_fwd
#define CLAWREV relay2_rev
If you need an edge trigger rather than level trigger, do something like this - assuming that variable ‘buttons’ holds the state of the joystick(s) buttons, and ‘old_buttons’ keeps track of the previous state of the buttons:
if(buttons!=old_buttons)
{
if((buttons&0x1)==0) /* example - bit 0 is the button to react to */
{
do_something_here(); /* execute once per button push */
}
}
old_buttons=buttons;
Hi,
I have seen teams with a board of switches that they have created themselves that controll things like pnunmatics. I would just like to know how we should wire the joystick port with the switches and then use them in the programming.
Thanks!
Wiring/programming for the joystick ports is detailed in
starting on page 7.
Thanks!
So correct me if I’m wrong: a Single Pole Single Throw switch could have one end to pin 2, 7, 10, or 14 and its power to either 4 or 12. What if you wanted a Single Pole Double Throw switch to toggle up to exstend a piston and togle down to retract a piston?
You can toggle a piston with just an SPST since it has the two states you’d need, on/off (in/out for a piston).
But if you wanted to use a SPDT just pick a pair of pins from 2, 7, 10, or 14 and ground on 4 or 12.
Your code would decide what to do with that information.
you could either use a couple of resistors to imitate the function of the analog “wheel” (circular thing on top of joystick), or use two seperate binary button inputs.
when using the “wheel” remember to account for slight variance in values.
-Leav
Thank you to Mark and Leav,
I think we will use a SPST switch to save pins and the “off” position is to retract the piston and the “ON” position is to exstend it.
Thanks!!!