Troubles with ServoControl with PushButtons & RCTIME
nomad
Posts: 276
hi
I have this problem with control 3 Servos with
6-Push_Buttons and additionally i want the
values of 2 Pressure-Sensors.
Errors:
If all 4 functions run thus:
- ShoulderServo1
- ShoulderServo2
- KneeServo3
- RCTime_Read
Does not react the program any longer no servo
actions, no output of the pressure sensors.
Are if however the servo functions switched off
The output of RCTIME is OK
If RCTIME is switched off,
those run Servos.
I already used the normal RCTIME function
(without BS2-Funktionen).
Same result.
I do not have notion which am there the matter.
Are grateful around each assistance .
Regard
nomad
the program:
I have this problem with control 3 Servos with
6-Push_Buttons and additionally i want the
values of 2 Pressure-Sensors.
Errors:
If all 4 functions run thus:
- ShoulderServo1
- ShoulderServo2
- KneeServo3
- RCTime_Read
Does not react the program any longer no servo
actions, no output of the pressure sensors.
Are if however the servo functions switched off
The output of RCTIME is OK
If RCTIME is switched off,
those run Servos.
I already used the normal RCTIME function
(without BS2-Funktionen).
Same result.
I do not have notion which am there the matter.
Are grateful around each assistance .
Regard
nomad
the program:
{ test.spin
for test-program with PropellerProtoBoard
- Version 10 for ProtoBoard
- ServoControl of 1 Leg with 3 Servos
- with Adjustments for Neutral-Standings
- with PropTerminal witch PC_Text for Output
Contributions:
- parallax.com : http://www.parallax.com
PropTerminal : www.insonix.ch (c)
dd. 20.08.2008
----------------------------------------------------------------------------
}
CON
_CLKMODE = XTAL1 + PLL16X ' Set to ext crystal, 16x PLL, 80MHz Clock
_XINFREQ = 5_000_000 ' Frequency on XIN pin is 5 MHz
' for BS2-Functions
RC1 = 6 ' PressureSensor Pin 6 for Leg1 sensorPin BS2 red
RC2 = 7 ' PressureSensor Pin 7 for Leg2 black
OBJ
BS2 : "BS2_Functions" ' Create BS2 Object for Pressure
TV : "PC_Text" 'You can also use TV_Text or VGA_Text objects
VAR
LONG pulsetime1, pulsetime2, pulsetime3
LONG periode1, periode2, periode3
LONG new_periode1, new_periode2, new_periode3
LONG timebase
LONG RCVal_1 ' rawForce Leg1
LONG RCVal_2 ' rawForce Leg2
PUB Main
' Initialize BS2 Object, Rx and Tx pins for DEBUG
BS2.start(31,30)
'start the terminal
TV.start(12)
Init
Adjustments
repeat
ShoulderServo1
ShoulderServo2
KneeServo3
RCTime_Read
PUB Init
' 20ms NOK not smoothly -> periode1 := ((clkfreq / 100_000) * 2000)
periode1 := ((clkfreq / 100_000) * 500) ' 5ms LEG 1
periode2 := ((clkfreq / 100_000) * 500)
periode3 := ((clkfreq / 100_000) * 500)
pulsetime1 := ((clkfreq / 100_000) * 150) ' 1,5ms
pulsetime2 := ((clkfreq / 100_000) * 150)
pulsetime3 := ((clkfreq / 100_000) * 150)
dira[noparse][[/noparse]0]~~ ' Pin00 set output servoSignal 1 Leg_1
outa[noparse][[/noparse]0]~ ' Pin00 set low
dira~~ ' Pin01 set output servoSignal 2
outa~ ' Pin01 set low
dira~~ ' Pin02 set output servoSignal 3
outa~ ' Pin02 set low
dira[noparse][[/noparse]8]~ ' Pin08 set input (taster s1) Shoulder1_Servo1 Swing
dira[noparse][[/noparse]9]~ ' Pin09 set input (taster s2)
dira[noparse][[/noparse]10]~ ' Pin10 set input (taster s3) Shoulder2_Servo2 Up/Down
dira[noparse][[/noparse]11]~ ' Pin11 set input (taster s4)
dira[noparse][[/noparse]12]~ ' Pin12 set input (taster s5) Knee3_Servo3 (Up/Down)
dira[noparse][[/noparse]13]~ ' Pin13 set input (taster s6)
timebase := cnt
PUB Adjustments
' Leg1
pulsetime1 := 120_000 - 9_000 ' IS KNEESERVO_3 NOT SHOULDERSERV0_1
pulsetime2 := 120_000 + 4_800 ' is shoulderServo2
pulsetime3 := 120_000 + 4_800 ' IS SHOULDERSERVO_1
PUB RCTime_Read
'repeat
dira[noparse][[/noparse]RC1]~~ ' RC output
outa[noparse][[/noparse]RC1]:=1 ' Set High
BS2.Pause(10) ' Allow charge
RCVal_1 := BS2.RCTime(6,1) ' Get RC Time
BS2.Pause(100)
dira[noparse][[/noparse]RC2]~~ ' RC output
outa[noparse][[/noparse]RC2]:=1 ' Set High
BS2.Pause(10) ' Allow charge
RCVal_2 := BS2.RCTime(7,1) ' Get RC Time
TV.out($0A) '$0A = set X position (X follows)
TV.out(0) ' xpos
TV.out($0B) '$0B = set Y position (Y follows)
TV.out(7) 'ypos
TV.str(string("PressureLeg1:"))
TV.out(" ")
TV.out($0A)
TV.out(16)
TV.out($0B)
TV.out(7)
TV.dec(RCVal_1)
TV.out(" ")
TV.out($0D)
TV.out($0A) '$0A = set X position (X follows)
TV.out(0) ' xpos
TV.out($0B) '$0B = set Y position (Y follows)
TV.out(8) 'ypos
TV.str(string("PressureLeg2:"))
TV.out(" ")
TV.out($0A)
TV.out(16)
TV.out($0B)
TV.out(8)
TV.dec(RCVal_2)
TV.out(" ")
TV.out($0D)
BS2.Pause(100)
PUB ShoulderServo1 ' generate servopulse Servo1 (swing) 1 Leg
outa[noparse][[/noparse]0]~~
waitcnt (timebase += pulsetime1)
outa[noparse][[/noparse]0]~
if ina[noparse][[/noparse]8] == 1
pulsetime1 += (clkfreq / 100_000)
TV.out($0A) '$0A = set X position (X follows)
TV.out(0) ' xpos
TV.out($0B) '$0B = set Y position (Y follows)
TV.out(0) 'ypos
TV.str(string("Pulsetime1:"))
TV.out(" ")
TV.out($0A)
TV.out(16)
TV.out($0B)
TV.out(0)
TV.dec(pulsetime1)
TV.out(" ")
TV.out($0D)
if ina[noparse][[/noparse]9] == 1
pulsetime1 -= (clkfreq / 100_000)
TV.out($0A) '$0A = set X position (X follows)
TV.out(0) ' xpos
TV.out($0B) '$0B = set Y position (Y follows)
TV.out(0) 'ypos
TV.str(string("Pulsetime1:"))
TV.out(" ")
TV.out($0A)
TV.out(16)
TV.out($0B)
TV.out(0)
TV.dec(pulsetime1)
TV.out(" ")
TV.out($0D)
new_periode1 := periode1 - pulsetime1 'periodendauer - pulsdauer
waitcnt (timebase += new_periode1) 'wait for periode end
PUB ShoulderServo2 ' generate servopulse Servo2
outa~~
waitcnt (timebase += pulsetime2)
outa~
if ina[noparse][[/noparse]10] == 1
pulsetime2 -= (clkfreq / 100_000)
TV.out($0A) '$0A = set X position (X follows)
TV.out(0) ' xpos
TV.out($0B) '$0B = set Y position (Y follows)
TV.out(1) 'ypos
TV.str(string("Pulsetime2:"))
TV.out(" ")
TV.out($0A)
TV.out(16)
TV.out($0B)
TV.out(1)
TV.dec(pulsetime2)
TV.out(" ")
TV.out($0D) ' $0D = return
if ina[noparse][[/noparse]11] == 1
pulsetime2 += (clkfreq / 100_000)
TV.out($0A) '$0A = set X position (X follows)
TV.out(0) ' xpos
TV.out($0B) '$0B = set Y position (Y follows)
TV.out(1) 'ypos
TV.str(string("Pulsetime2:"))
TV.out(" ")
TV.out($0A)
TV.out(16)
TV.out($0B)
TV.out(1)
TV.dec(pulsetime2)
TV.out(" ")
TV.out($0D)
new_periode2 := periode2 - pulsetime2
waitcnt (timebase += new_periode2)
PUB KneeServo3 ' generate servopulse Servo3
outa~~
waitcnt (timebase += pulsetime3)
outa~
if ina[noparse][[/noparse]12] == 1
pulsetime3 -= (clkfreq / 100_000)
TV.out($0A) '$0A = set X position (X follows)
TV.out(0) ' xpos
TV.out($0B) '$0B = set Y position (Y follows)
TV.out(2) 'ypos
TV.str(string("Pulsetime3:"))
TV.out(" ")
TV.out($0A)
TV.out(16)
TV.out($0B)
TV.out(2)
TV.dec(pulsetime3)
TV.out(" ")
TV.out($0D)
if ina[noparse][[/noparse]13] == 1
pulsetime3 += (clkfreq / 100_000)
TV.out($0A) '$0A = set X position (X follows)
TV.out(0) ' xpos
TV.out($0B) '$0B = set Y position (Y follows)
TV.out(2) 'ypos
TV.str(string("Pulsetime3:"))
TV.out(" ")
TV.out($0A)
TV.out(16)
TV.out($0B)
TV.out(2)
TV.dec(pulsetime3)
TV.out(" ")
TV.out($0D)
new_periode3 := periode3 - pulsetime3 ' periodendauer - pulsdauer
waitcnt (timebase += new_periode3) ' wait for periode end
{--------------------------------------------------------------------------------------}
Comments
You could always use another cog to manage your servos, but if you want to keep·the servos, and sensors under the same "roof", then what you might consider is combining all of your servo functions, so that they all send a·pulse at the same time, then as there value dictates, each one would drop off in turn.· (A maximum of 2ms) ... Then, go ahead and pre-calculate the next period 50ms away, but don't wait for it at the end of the servo routine.· Instead use that time to read your sensors,·etc.· .... At the 'beginning' of your servo routine is then where you should wait for the next servo interval.· The initial loop through the routine·should be padded with some arbitrary number ahead of the clock counter that would equate·to something close to 50ms.
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Beau Schwabe
IC Layout Engineer
Parallax, Inc.
thanks for your answers.
today i make some experiments with your ideas.
excuse my bad english
thanks
regards
nomad
Duplicate threads were removed (you had three). Please post follow ups in the same thread. It detracts from the flow of the thread if you keep starting over and it is against our forum guidelines.
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Chris Savage
Parallax Engineering
excuse my fault
regards
nomad