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Need help calling variables in more than 1 cog — Parallax Forums

Need help calling variables in more than 1 cog

HayONUHayONU Posts: 3
edited 2009-04-14 02:34 in Robotics
Are there any limitations to calling methods from one cog to another and are there any limitations to calling variables throughout the program?

We have IR sensors with an ADC that are supposed to be on a separate cog from the rest of the program so we will be able to continuously monitor them. Our main code will determine what to do once the information is gathered from the ADC. We are having trouble getting the value for each sensor variable to transfer to our main program.

Here is our code:



CON
_clkmode = xtal1 + pll16x ' enable external clock and pll times 16
_xinfreq = 5_000_000 ' set frequency to 5 MHZ

ON = 1
OFF = 0

OUTPUT = 1
INPUT = 0
'Seven Segment Display Pin Numbers.

DISA = 22
DISB = 21
DISC = 20
DISD = 19
DISE = 18
DISF = 17
DISG = 16

'EEPROM Pin Numbers.
SCL = 28
SDA = 29
'Program Switches
PZERO = 0
PONE = 1
PTWO = 2
PTHREE = 3
PFOUR = 4

'Analog to Digital Converter
'Analog to Digital Converter
ADC_CLK = 5
ADC_DIN = 6
ADC_CS5 = 7 'Should be 7, but 2 for development work
ADC_CS6 = 8
ADC_CS7 = 9
ADC_CS8 = 10
ADC_CS9 = 11
ADC_CS10 = 12
ADC_CS11 = 13
ADC_CS12 = 14
var

long front_right
long front_left
long back_right
long back_left
long rightside_front
long rightside_back
long leftside_front
long leftside_back
long inc
long counter
long stack[noparse][[/noparse]20]
long sensor





pub main
i_o_setup
cognew(Read_IR_Sensor,@stack)
waitcnt(40_000_000+cnt)

REPEAT

IF INA[noparse][[/noparse]PZERO]== 0
Outa[noparse][[/noparse]16..22]:= %0111111
waitcnt(80_000_000+cnt)
HeadtoHead


ELSEIF INA[noparse][[/noparse]PONE]== 0
Outa[noparse][[/noparse]16..22]:= %0000110
waitcnt(80_000_000+cnt)
BacktoBack


ELSEIF INA[noparse][[/noparse]PTWO]== 0
Outa[noparse][[/noparse]16..22]:= %1011011
waitcnt(80_000_000+cnt)
SidetoSideOppDir


ELSEIF INA[noparse][[/noparse]PTHREE]== 0
Outa[noparse][[/noparse]16..22]:= %1001111
waitcnt(80_000_000+cnt)
SidetoSideSameDir

ELSEIF INA[noparse][[/noparse]PFOUR]== 0
Outa[noparse][[/noparse]16..22]:= %1100110





Pub HeadtoHead
Repeat
case front_left ' front_right 'If detected stay full speed
0..440: 'displays a zero
outa[noparse][[/noparse]16..22]:= %0111111
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0

441..880: 'displays a one
Outa[noparse][[/noparse]16..22]:= %0000110
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
881..1320: 'displays a two
Outa[noparse][[/noparse]16..22]:= %1011011
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
1321..1760: 'displays a three
Outa[noparse][[/noparse]16..22]:= %1001111
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
1761..4095: 'displays a four
Outa[noparse][[/noparse]16..22]:= %1100110
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
other: 'displays a five
Outa[noparse][[/noparse]16..22]:= %1101101'


return

pUB Read_IR_Sensor
i_o_setup

front_right:=0
front_left:=0
back_right:=0
back_left:=0
rightside_front:=0
rightside_back:=0
leftside_front:=0
leftside_back:=0

repeat
outa[noparse][[/noparse]23]:=1
waitcnt(80_000_000+cnt)

leftside_front:=read_adc(ADC_CS5)
front_left:=read_adc(ADC_CS6)
leftside_back:=read_adc(ADC_CS7)
back_left:=read_adc(ADC_CS8)
back_right:=read_adc(ADC_CS9)
rightside_back:=read_adc(ADC_CS10)
rightside_front:=read_adc(ADC_CS11)
front_right:=read_adc(ADC_CS12)

outa[noparse][[/noparse]23]:=0
waitcnt(80_000_000 + cnt)


PUB read_adc(CS_PIN)
'All IR Sensors
OUTA[noparse][[/noparse]ADC_CLK]:=0 'ADC Clock off
OUTA[noparse][[/noparse]CS_PIN]:=0 'Bring Chip Select low (active)

repeat 5
counter:=cnt 'just a delay, no other purpose
OUTA[noparse][[/noparse]ADC_CLK]:=!OUTA[noparse][[/noparse]ADC_CLK] 'ADC Clock on
counter:=cnt 'just a delay, no other purpose

inc:=11 'start at 11 and go to 0, 12 bits
sensor:=0 'initialize the variable
repeat 12 'repeating 12 times because there are 12 bits that we are shifting in
OUTA[noparse][[/noparse]ADC_CLK]:=0 'ADC Clock off
counter:=cnt 'just a delay, no other purpose
if (INA[noparse][[/noparse]ADC_DIN]==1) 'if the bit is a one
sensor:=(sensor+(1<<inc)) 'adds the decimal value of the binary bit using <<inc (first bit is 2048, second 1024, etc)
inc:=inc-1 'decrement the inc variable
OUTA[noparse][[/noparse]ADC_CLK]:=1 'ADC Clock on
counter:=cnt 'just a delay, no other purpose
'OUTA[noparse][[/noparse]ADC_CLK]:=1 'ADC Clock off
OUTA[noparse][[/noparse]CS_PIN]:=1 'Bring Chip Select high (inactive)

return sensor
[noparse][[/noparse]code]

Post Edited (HayONU) : 4/13/2009 10:11:24 PM GMT

Comments

  • HayONUHayONU Posts: 3
    edited 2009-04-13 23:23
    HayONU said...
    Are there any limitations to calling methods from one cog to another and are there any limitations to calling variables throughout the program?

    We have IR sensors with an ADC that are supposed to be on a separate cog from the rest of the program so we will be able to continuously monitor them. Our main code will determine what to do once the information is gathered from the ADC. We are having trouble getting the value for each sensor variable to transfer to our main program.

    Here is our code:

    
CON
  _clkmode = xtal1 + pll16x          ' enable external clock and pll times 16
  _xinfreq = 5_000_000             ' set frequency to 5 MHZ

  ON  = 1
  OFF = 0 

  OUTPUT = 1
  INPUT = 0
        'Seven Segment Display Pin Numbers.
      
  DISA = 22 
  DISB = 21
  DISC = 20
  DISD = 19
  DISE = 18
  DISF = 17
  DISG = 16

        'EEPROM Pin Numbers.   
  SCL = 28      
  SDA = 29
        'Program Switches
  PZERO  = 0
  PONE   = 1
  PTWO   = 2
  PTHREE = 3
  PFOUR  = 4

           'Analog to Digital Converter
                                'Analog to Digital Converter
  ADC_CLK = 5 
  ADC_DIN = 6                    
  ADC_CS5 = 7                    'Should be 7, but 2 for development work
  ADC_CS6 = 8
  ADC_CS7 = 9
  ADC_CS8 = 10
  ADC_CS9 = 11
  ADC_CS10 = 12
  ADC_CS11 = 13
  ADC_CS12 = 14
var

  long front_right
  long front_left
  long back_right   
  long back_left
  long rightside_front
  long rightside_back
  long leftside_front
  long leftside_back
  long inc
  long counter                            
  long stack[noparse][[/noparse]20]
  long sensor



 

pub main
 i_o_setup
 cognew(Read_IR_Sensor,@stack)
 waitcnt(40_000_000+cnt)
 
REPEAT
            
  IF INA[noparse][[/noparse]PZERO]== 0                         
      Outa[noparse][[/noparse]16..22]:= %0111111
       waitcnt(80_000_000+cnt)   
      HeadtoHead
   

  ELSEIF INA[noparse][[/noparse]PONE]== 0                         
    Outa[noparse][[/noparse]16..22]:= %0000110
     waitcnt(80_000_000+cnt)
    BacktoBack
    

  ELSEIF INA[noparse][[/noparse]PTWO]== 0                                    
    Outa[noparse][[/noparse]16..22]:= %1011011
     waitcnt(80_000_000+cnt)
    SidetoSideOppDir
    

  ELSEIF INA[noparse][[/noparse]PTHREE]== 0                                    
    Outa[noparse][[/noparse]16..22]:= %1001111
     waitcnt(80_000_000+cnt)
    SidetoSideSameDir
                                                                 
  ELSEIF INA[noparse][[/noparse]PFOUR]== 0
    Outa[noparse][[/noparse]16..22]:= %1100110
  
                                             
           
    
    
Pub HeadtoHead
  Repeat
    case front_left ' front_right  'If detected stay full speed
      0..440:                    'displays a zero
        outa[noparse][[/noparse]16..22]:= %0111111
        outa[noparse][[/noparse]15]:=0
        outa[noparse][[/noparse]25]:=0
                              
      441..880:                 'displays a one
        Outa[noparse][[/noparse]16..22]:= %0000110
        outa[noparse][[/noparse]15]:=0
        outa[noparse][[/noparse]25]:=0      
      881..1320:                 'displays a two
        Outa[noparse][[/noparse]16..22]:= %1011011
        outa[noparse][[/noparse]15]:=0
        outa[noparse][[/noparse]25]:=0
      1321..1760:                 'displays a three
        Outa[noparse][[/noparse]16..22]:= %1001111
        outa[noparse][[/noparse]15]:=0
        outa[noparse][[/noparse]25]:=0
      1761..4095:                 'displays a four
        Outa[noparse][[/noparse]16..22]:= %1100110
        outa[noparse][[/noparse]15]:=0
        outa[noparse][[/noparse]25]:=0
      other:                      'displays a five            
        Outa[noparse][[/noparse]16..22]:= %1101101'
    
         
return

pUB Read_IR_Sensor
    i_o_setup
    
  front_right:=0           
  front_left:=0                   
  back_right:=0                   
  back_left:=0                    
  rightside_front:=0              
  rightside_back:=0               
  leftside_front:=0               
  leftside_back:=0       
     
repeat     
  outa[noparse][[/noparse]23]:=1
  waitcnt(80_000_000+cnt)
       
  leftside_front:=read_adc(ADC_CS5)
  front_left:=read_adc(ADC_CS6)
  leftside_back:=read_adc(ADC_CS7)
  back_left:=read_adc(ADC_CS8)
  back_right:=read_adc(ADC_CS9)
  rightside_back:=read_adc(ADC_CS10)
  rightside_front:=read_adc(ADC_CS11)
  front_right:=read_adc(ADC_CS12)
  
  outa[noparse][[/noparse]23]:=0
  waitcnt(80_000_000 + cnt)  
  

PUB read_adc(CS_PIN)  
      'All IR Sensors
  OUTA[noparse][[/noparse]ADC_CLK]:=0             'ADC Clock off
  OUTA[noparse][[/noparse]CS_PIN]:=0              'Bring Chip Select low (active)

  repeat 5
     counter:=cnt           'just a delay, no other purpose
     OUTA[noparse][[/noparse]ADC_CLK]:=!OUTA[noparse][[/noparse]ADC_CLK]         'ADC Clock on
  counter:=cnt           'just a delay, no other purpose  
  
  inc:=11                  'start at 11 and go to 0, 12 bits
  sensor:=0               'initialize the variable
  repeat 12                'repeating 12 times because there are 12 bits that we are shifting in                 
    OUTA[noparse][[/noparse]ADC_CLK]:=0         'ADC Clock off
    counter:=cnt           'just a delay, no other purpose 
    if (INA[noparse][[/noparse]ADC_DIN]==1)   'if the bit is a one
      sensor:=(sensor+(1<<inc))   'adds the decimal value of the binary bit using <<inc (first bit is 2048, second 1024, etc)   
    inc:=inc-1             'decrement the inc variable
    OUTA[noparse][[/noparse]ADC_CLK]:=1         'ADC Clock on           
    counter:=cnt           'just a delay, no other purpose
    'OUTA[noparse][[/noparse]ADC_CLK]:=1          'ADC Clock off
  OUTA[noparse][[/noparse]CS_PIN]:=1             'Bring Chip Select high (inactive)

return sensor

  • P!-RoP!-Ro Posts: 1,189
    edited 2009-04-14 00:56
    I can't help you much, but just for a future reference, this post should have been placed in the Propeller forum. They could have helped you much faster there.

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    PG
  • SRLMSRLM Posts: 5,045
    edited 2009-04-14 01:16
    A couple of thoughts...

    Your waitcnt in Read_IR_Sensor would be better if you used clkfreq instead of 80_000_000. That way, if you change your clock speed you don't have to edit your code so much (like in this statement).

    your stack is also pretty small. Why not try changing it to something like 200? You probably have the space to be generous.

    Try posting your full code as an attachment.
  • Phil Pilgrim (PhiPi)Phil Pilgrim (PhiPi) Posts: 23,514
    edited 2009-04-14 02:34
    It was posted there, and should be answered there. This is a dupe. Perhaps the moderators could remove it.

    HayONU, you're new to these forums so, first of all, welcome! I'm sure you'll find the help you need here. In the future, though, please do not duplicate your posts in different forums. It's against the rules. Thanks.

    -Phil
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