Help with autopilot

Googfan · 2008-07-09 18:04

Hi i'm building a souped up boebot and i have a problem, when i·push the autopilot button [noparse][[/noparse]#21 - power] the robot begins roaming, but stops when i let go. I have a place in the code to exit autopilot BUT-- only when button 59 is pushed (mute). From the looks of things, my code should work

It roams using PING))), and well, i dont want to hold the aoutopilot button.
OH, it uses an IR remote, (sony)

······· |
code \/

' {$STAMP BS2}
' {$PBASIC 2.5}
'variables

time········ VAR Word
irPulse····· VAR Word
topservo···· VAR Word
remoteCode·· VAR Byte
pulsecount·· VAR Byte
turncountl·· VAR Nib
turncountr·· VAR Nib

FREQOUT 4,2000,3000
turncountl = 0
turncountr = 0
'Main routine

Main:
DO
· GOSUB getremote
· IF (remoteCode = 2) THEN GOSUB forwardpulse
· IF (remoteCode = 8) THEN GOSUB backpulse
· IF (remoteCode = 4) THEN GOSUB leftpulse
· IF (remoteCode = 6) THEN GOSUB rightpulse
· IF (remoteCode = 21)THEN GOSUB autopilot
· IF (remotecode = 18) THEN topservo = topservo + 100
· IF (remotecode = 19) THEN topservo = topservo - 100
· topservo = topservo MIN 150
· topservo = topservo MAX 1200
· PULSOUT 14, topservo
LOOP

'MajorSubprograms

getremote:
remoteCode = 0
DO
· RCTIME 9, 1, irPulse
LOOP UNTIL irPulse > 1000
··· PULSIN 9, 0, irPulse
· IF irPulse > 500 THEN remoteCode.BIT0 = 1
··· RCTIME 9, 0, irPulse
· IF irPulse > 300 THEN remoteCode.BIT1 = 1
··· RCTIME 9, 0, irPulse
· IF irPulse > 300 THEN remoteCode.BIT2 = 1
··· RCTIME 9, 0, irPulse
· IF irPulse > 300 THEN remoteCode.BIT3 = 1
··· RCTIME 9, 0, irPulse
· IF irPulse > 300 THEN remoteCode.BIT4 = 1
··· RCTIME 9, 0, irPulse
· IF irPulse > 300 THEN remoteCode.BIT5 = 1
··· RCTIME 9, 0, irPulse
· IF irPulse > 300 THEN remoteCode.BIT6 = 1
· IF (remoteCode < 10) THEN remoteCode = remoteCode + 1
· IF (remoteCode = 10) THEN remoteCode = 0
RETURN

autopilot:
DO
· IF (turncountr > 2) AND (turncountl > 2)· THEN
··· turncountl = 0
··· turncountr = 0
· ENDIF
· PULSOUT 15, 5
· PULSIN 15, 1, time
· time = time ** 750
· IF (time < 12) THEN
··· IF (turncountl < 3) THEN
····· GOSUB turnleft
····· turncountl = turncountl + 1
··· ELSE
····· GOSUB turnright
····· turncountr = turncountr + 1
··· ENDIF
· ELSE
··· GOSUB forward
· ENDIF
· GOSUB getremote
· IF (remoteCode = 59) GOTO Main
LOOP
'autop subprograms

forward:
FOR pulsecount = 1 TO 20
· PULSOUT 13,840
· PULSOUT 12,650
· PAUSE 10
NEXT
RETURN

turnleft:
FOR pulsecount = 1 TO 20
· PULSOUT 13,650
· PULSOUT 12,650
· PAUSE 20
NEXT
RETURN

turnright:
FOR pulsecount = 1 TO 20
· PULSOUT 13,840
· PULSOUT 12,840
· PAUSE 20
NEXT
RETURN

backup:
FOR pulsecount = 1 TO 20
· PULSOUT 13,650
· PULSOUT 12,840
· PAUSE 10
NEXT
RETURN
'manual subprograms

leftpulse:
· PULSOUT 13,650
· PULSOUT 12,650
· PAUSE 10
· RETURN

rightpulse:
· PULSOUT 13,840
· PULSOUT 12,840
· PAUSE 10
· RETURN

forwardpulse:
· PULSOUT 13,840
· PULSOUT 12,650
· PAUSE 10
· RETURN

backpulse:
· PULSOUT 13,650
· PULSOUT 12,840
· PAUSE 10
· RETURN

kenwtn · 2008-07-09 18:09

You seem to be missing a RETURN at end of autopilot

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Keep buying replacement parts and sooner or later you will get it RIGHT!

Googfan · 2008-07-09 18:11

You seem to be missing a RETURN at end of autopilot

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Keep buying replacement parts and sooner or later youwill get it RIGHT

thats because autopilot is a loop and will continue forever untill it is exited by·GOTO Main

Googfan · 2008-07-09 18:15

·GOSUB getremote
· IF (remoteCode = 59) GOTO Main

its supposed to be
·
GOSUB getremote
· IF (remoteCode = 59) THEN GOTO Main

it still doesn't work though

kenwtn · 2008-07-09 18:25

Still think you need a return after loop

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Keep buying replacement parts and sooner or later you will get it RIGHT!

allanlane5 · 2008-07-09 18:42

You're clearing "RemoteCode" to zero at the top of the subroutine.
So, if you're not holding down a button on the remote, you return "zero" to the "top level".
A "zero" for "RemoteCode" does nothing at the top level -- thus your robot stops.

Probably, the default should be 21 "Auto-Pilot".

Googfan · 2008-07-09 20:15

allanlane5 said...
You're clearing "RemoteCode" to zero at the top of the subroutine.
So, if you're not holding down a button on the remote, you return "zero" to the "top level".
A "zero" for "RemoteCode" does nothing at the top level -- thus your robot stops.

Probably, the default should be 21 "Auto-Pilot".

i tried what you said but no luck. it still stops...

allanlane5 · 2008-07-09 20:23

Strange, the code still looks the same to me.

What did you do?

It's also possible your code is "hanging" in the IR reader -- I'm not sure how it determines when there's NO IR being recieved.

Googfan · 2008-07-09 20:30

I dont know... the code seems like it should work but it always exits the loop, even when no ir is recieved. the only way it works is if you hold the button down and start the loop over every time.

Also, [noparse][[/noparse]totally off topic] i just realized, Boe-Bots and the Erector set make a perfect combo. You can build boving arms and stuff attached to the chassis

Franklin · 2008-07-09 21:51

Try removing the do in autopilot and changing the loop at the end to goto autopilot. See what happens then.

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- Stephen

Googfan · 2008-07-09 23:45

Franklin said...
Try removing the do in autopilot and changing the loop at the end to goto autopilot. See what happens then.

· that didnt work!!

oh and the remoteCode = 0 is nescessary otherwise the servos go mad.

kenwtn · 2008-07-09 23:50

Try this:

autopilot:
DO
IF (turncountr > 2) AND (turncountl > 2) THEN
turncountl = 0
turncountr = 0
ENDIF
PULSOUT 15, 5
PULSIN 15, 1, time
time = time ** 750
IF (time < 12) THEN
IF (turncountl < 3) THEN
GOSUB turnleft
turncountl = turncountl + 1
ELSE
GOSUB turnright
turncountr = turncountr + 1
ENDIF
ELSE
GOSUB forward
ENDIF
GOSUB getremote
IF (remoteCode = 59) THEN
RETURN
ENDIF
LOOP

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Keep buying replacement parts and sooner or later you will get it RIGHT!

Googfan · 2008-07-09 23:56

kenwtn said...
Try this:

autopilot:
DO
IF (turncountr > 2) AND (turncountl > 2) THEN
turncountl = 0
turncountr = 0
ENDIF
PULSOUT 15, 5
PULSIN 15, 1, time
time = time ** 750
IF (time < 12) THEN
IF (turncountl < 3) THEN
GOSUB turnleft
turncountl = turncountl + 1
ELSE
GOSUB turnright
turncountr = turncountr + 1
ENDIF
ELSE
GOSUB forward
ENDIF
GOSUB getremote
IF (remoteCode = 59) THEN
RETURN
ENDIF
LOOP

that was the first thing i tried. for an unkown reason it quits.
oh and

GOSUB getremote
IF (remoteCode = 59) THEN
RETURN <-- its not a true subrogram in a stack
ENDIF
LOOP

i used GOTO Main to conserve stacking space.

NosePicker · 2008-07-10 04:00

It looks like you will eventually get stack overflow.

You should remove the DO and LOOP and change the last two lines to:

IF (remoteCode <> 59) GOTO autopilot
RETURN

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Thanks

NosePicker

MSDTech · 2008-07-10 12:07

Your problem is in the getremote subroutine. It has the following loop:
DO
· RCTIME 9, 1, irPulse
LOOP UNTIL irPulse > 1000
This loop will just sit there and wait until it sees the IR remote. You need to change it to something like this:
Define a variable Counter as a byte.

counter=0
DO
· RCTIME 9, 1, irPulse
· counter = counter + 1
· PAUSE 10
LOOP UNTIL (irPulse > 1000) OR (counter > 20)

You can adjust the Pause statement and the value of counter to get a reasonable operation, although there will always be some hesitation of the robot while its checking to see if the remote is being pressed. I have some similar code and just decided that once I put it into autopilot, I'll chase it down and hit the reset button.

Post Edited (MSDTech) : 7/10/2008 1:37:08 PM GMT

kenwtn · 2008-07-10 15:31

Have you tried using DEBUG? Debug is a great tool to see where the program is going and to see the values you expect are getting set correctly. There are things in your code that do not make sense.

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Keep buying replacement parts and sooner or later you will get it RIGHT!

patterson7019 · 2008-07-10 21:16

The loop in autopilot seems to look okay, so I would suggest you check the value coming back from the getremote routine by putting either a debug (if you can) to print the value of remoteCode after the gosub in autopilot:

  ...
  GOSUB getremote
  DEBUG ? remoteCode,CR
  IF (remoteCode = 59) GOTO Main
LOOP

or if you can't put a debug in for some reason, put in an infinite loop to stop everything:

  ...
  GOSUB getremote
  'DEBUG ? remoteCode,CR
infiniteloop:
  IF (remoteCode = 59) GOTO infiniteloop
LOOP

If everything stops, you know remoteCode is 59, and that your loop is fine, but the getremote is wrong.

Also note, that a gosub will add to the stack. The goto in "IF (remoteCode = 59) GOTO Main" does not remove the previos gosub from the stack. So you will eventually run out of stack space.

Googfan · 2008-07-17 01:39

ughh nothing works. counter idea hangs and debug did not help... srry

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Mixing things...

It can be deadly -- Potassium Carbon Nitrogen [noparse][[/noparse]KCN]
It can be fun

·Potassium Nitrogen Oxogen Carbon Sulfer [noparse][[/noparse]KNO3+C+S]
It can be useless - Napkin Butter
wait, what point was I·trying to establish?

·

Help with autopilot

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