Penguin code v1.2 hase been released
David Carrier
Posts: 294
A new version of the Penguin code, v1.2, has been released and is now available on the Parallax web page at www.parallax.com/Portals/0/Downloads/docs/prod/robo/PenguinCode-v1.2.zip. The download is also available from any of the Penguin product pages.
The 'Move' subroutine has been rewritten so that it works when then difference between an old servo position and a new servo position is less than the 'Speed' variable. The previous version used the signs of 'StrideStep' and 'TiltStep' to determine the direction of movement for the respective stride and tilt servos. When 'Speed' was less than the distance a servo was moving, its step variable would be set to zero, which is positive for a signed binary number, and the remainder, or modulo, would always be added, even if it should have been subtracted.
As indicated by David Buckly, In the servo calibration program, an accidental omission caused 'TiltRange' to be read from scratchpad RAM as a byte instead of a word. If servo output was enabled, the Penguin was walking, and 'TiltRange' was set higher than 255, the servo calibration program would physically tilt the Penguin less than indicated. The correct value was still stored in EEPROM, so all of the navigation programs would still tilt the Penguin to the degree indicated by 'TiltRange'
Also, as mentioned by David Buckley, a pointer that indicated the end of the servo calibration dialog was set to $555 when it should have been $559.
Finally, some code comments have been changed.
- David Carrier
DCarrier@Parallax.com
The 'Move' subroutine has been rewritten so that it works when then difference between an old servo position and a new servo position is less than the 'Speed' variable. The previous version used the signs of 'StrideStep' and 'TiltStep' to determine the direction of movement for the respective stride and tilt servos. When 'Speed' was less than the distance a servo was moving, its step variable would be set to zero, which is positive for a signed binary number, and the remainder, or modulo, would always be added, even if it should have been subtracted.
As indicated by David Buckly, In the servo calibration program, an accidental omission caused 'TiltRange' to be read from scratchpad RAM as a byte instead of a word. If servo output was enabled, the Penguin was walking, and 'TiltRange' was set higher than 255, the servo calibration program would physically tilt the Penguin less than indicated. The correct value was still stored in EEPROM, so all of the navigation programs would still tilt the Penguin to the degree indicated by 'TiltRange'
Also, as mentioned by David Buckley, a pointer that indicated the end of the servo calibration dialog was set to $555 when it should have been $559.
Finally, some code comments have been changed.
- David Carrier
DCarrier@Parallax.com