Odd exit from

souplogic · 2008-05-02 18:34

I am having a problem in the runCog method below where under certain circumstances (they seem electrical, like if I try to force the servo head to turn), the loop is exited, possibly the cog shut down, but everything else (including the servo code) continues to operate.

This is not a reset, as all other functionality (i.e. the servo stays fixed) continues, but the ping stops working, as well as my debug output (using a simple seven segment driver which was only added _after_ the problem started).

Are there any glaring mistakes I have made here? I tried to follow the examples in the book to create an object with runnable routines.

Thanks for your help
-Adam

CON
PIN_HEAD_PING  = 13
PIN_HEAD_SERVO = 08

LOOK_RGT    = 1000
LOOK_FWD    = 1900

OBJ
  ping: "Ping"
  servo: "Servo32v3"
  ss:   "AT_SevenSeg"
VAR
  long  stack[noparse][[/noparse]20]                'Stack space for new cog
  byte  cog                     'Hold ID of cog in use, if any
  long  headPos                 'current position of head in pulse width
  long  headPing                'last head ping distance in cm 
  
PUB init
  headPos := LOOK_FWD
  servo.set(PIN_HEAD_SERVO,headPos)
  'Note: Servo pins that will be used must be preset before running "SERVO.Start".
  '      This is because the I/O direction is set here and is only executed
  '      at the beginning of "SERVO.Start".  Servo pins that aren't used will remain
  '      in their original direction state.
  servo.start
  start  
  
PUB start: success
{{Start runcog process in new cog; return True if successful.}}
  stop
  success := (cog := cognew(runCog, @stack) + 1)'plus 1 to adjust indexing


PUB stop
{{Stop toggling process, if any.}}
  if cog
    cogstop(cog~ - 1) 'clear Cog var after using as param for cogstop


PUB active: yesNo
{{Return TRUE if process is active, FALSE otherwise.}}
  yesNo := cog > 0

PUB runCog | headSample, i 

  repeat
    headPing := ping.centimeters(PIN_HEAD_PING)
    i := servo.set(PIN_HEAD_SERVO,headPos) 
    waitcnt (clkfreq/4+cnt)
    ss.pointToggle
       
  cog~  'Exit: Clear Cog ID variable before execution falls through
PUB lookRgt
  headPos := LOOK_RGT
  servo.set(PIN_HEAD_SERVO,headPos)
  
PUB lookFwd
  headPos := LOOK_FWD
  servo.set(PIN_HEAD_SERVO,headPos)
  
PUB getHeadPing : result
  result := headPing

Post Edited (souplogic) : 5/3/2008 8:01:56 PM GMT

stevenmess2004 · 2008-05-02 22:34

First of all, if you put your code in [noparse][[/noparse] code ] and [noparse][[/noparse] /code ] without the spaces it should preserve the formatting making it easier to read.

I can't see anything wrong but I would make the stack bigger. Something like 40. Also, how is everything wired up? Is everything hooked up to the right pins? How do you know that the ping isn't working?

souplogic · 2008-05-03 20:03

ok, sorry was in a rush and didn't mark the code up.

Im fairly certain the connections are all right, and furthermore the issue seems to battery related, as when things are all plugged in the problem does not happen as often, or possibly not at all. That said, even a fresh lantern battery (used because it was 6 volts, and a good bit of current and staying power) seemed to cause the problem.

It could well be an issue with the ping or servo electronics as they are not new, but I would like to know if anyone sees anything in the code thats a red flag.

Thanks a lot.

Adam

stevenmess2004 · 2008-05-03 21:18

Did you try changing the stack size?

Odd exit from

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