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Code Help

AndreiAndrei Posts: 15
edited 2009-06-16 21:12 in BASIC Stamp
Hi, I did my program with line follower and compass but I have a little trouble.

DO ' Main loop

GOSUB check_qtis

SELECT qtis

CASE %1000
PULSOUT 13, 670
PULSOUT 12, 670

CASE %1100
PULSOUT 13, 750
PULSOUT 12, 670

CASE %0100
PULSOUT 13, 790
PULSOUT 12, 670

CASE %0110
PULSOUT 13, 800
PULSOUT 12, 700

CASE %0010
PULSOUT 13, 830
PULSOUT 12, 710

CASE %0011
PULSOUT 13, 830
PULSOUT 12, 750

CASE %0001
PULSOUT 13, 830
PULSOUT 12, 830

CASE %0111


Init_state = 0 'setez starea initiala

DO
GOSUB Compass_Get_Axes ' Get x, and y values
IF init_state = 0 THEN
init_angle = x ATN -y
init_angle = init_angle */ 361 ' salvez unghiul initial!
init_state = 1
ELSEIF init_state = 1 THEN
angle = x ATN -y ' Convert x and y to brads
angle = angle */ 361 ' Convert brads to degrees

IF angle < (init_angle + 95) THEN 'GOSUB comanda_motoare
PULSOUT 13, 770
PULSOUT 12, 770
PAUSE 20
ELSE
GOSUB Fata_spate
ENDIF
' cat timp unghiul curent este mai mic decat cel
' initial - 90, comand motoarele
DEBUG HOME, "x-axis N(-S) = ",SDEC x, ' Display axes and degrees
CLREOL, CR, "y-axis W(-E) = ",
SDEC y, CLREOL, CR, CR, "angle = ",
DEC angle, " degrees", CLREOL
PAUSE 150

ENDIF ' Debug delay for slower PCs


LOOP ' Repeat main loop


CASE ELSE
PAUSE 3

ENDSELECT

LOOP

Fata_spate:

FOR counter = 1 TO 58
PULSOUT 13, 750 + counter '820
PULSOUT 12, 750 - counter '680
PAUSE 20
NEXT


FOR counter = 58 TO 1
PULSOUT 13, 750 + counter
PULSOUT 12, 750 - counter
PAUSE 20
NEXT

FREQOUT 3, 2000, 3000

FOR counter = 1 TO 60
PULSOUT 13, 750 - counter '680
PULSOUT 12, 750 + counter '820
PAUSE 20
NEXT

FOR counter = 60 TO 1
PULSOUT 13, 750 - counter
PULSOUT 12, 750 + counter
PAUSE 20
NEXT

RETURN



when it get's to case %0111 it's the problem. it turns with 90 degrees to the right(there is 95 but this is not important), runs GOSUB Fata_spate and I don't now how to get out from here to continue wiht following of the line. It dosen't stop, it comes back and then start turning a little more to the right(30 degres) and runs again Fata_spate.

Where is the problem?

I would like to check the QTI's again and start following the line or do nothing, depends on the QTI's setup.

Thank you.

Comments

  • W9GFOW9GFO Posts: 4,010
    edited 2009-06-16 17:22
    After the list of Cases you have a "DO". I think it is stuck in that loop. It would be easier to follow your code if you had more subroutines. Most of your program now is in the Case Select routine. I rearranged your code a bit so that it was easier to follow for me - I haven't spent a lot of time making sure that it will do what you want though.

    Main:

DO                          

  GOSUB check_qtis

  SELECT qtis

    CASE %1000
      PULSOUT 13, 670
      PULSOUT 12, 670

    CASE %1100
      PULSOUT 13, 750
      PULSOUT 12, 670

    CASE %0100
      PULSOUT 13, 790
      PULSOUT 12, 670

     CASE %0110
      PULSOUT 13, 800
      PULSOUT 12, 700

    CASE %0010
      PULSOUT 13, 830
      PULSOUT 12, 710

    CASE %0011
      PULSOUT 13, 830
      PULSOUT 12, 750

    CASE %0001
      PULSOUT 13, 830
      PULSOUT 12, 830

    CASE %0111
      GOSUB This_Case

    CASE ELSE
      PAUSE 3

    ENDSELECT

Loop

This_Case:

  Init_state = 0                                     'setez starea initial

  GOSUB Compass_Get_Axes                              ' Get x, and y values

  IF init_state = 0 THEN
    init_angle = x ATN -y
    init_angle = init_angle */ 361                    ' salvez unghiul initial!
    init_state = 1

  ELSEIF init_state = 1 THEN
    angle = x ATN -y                                    ' Convert x and y to brads
    angle = angle */ 361                                ' Convert brads to degrees

  ENDIF

  IF angle < (init_angle + 95) THEN   'GOSUB comanda_motoare
    PULSOUT 13, 770
    PULSOUT 12, 770
    PAUSE 20

  ELSE
    GOSUB Fata_spate

  ENDIF
                                                                     ' cat timp unghiul curent este mai mic decat cel
  DEBUG HOME, "x-axis N(-S) = ",SDEC x,               ' Display axes and degrees
  CLREOL, CR, "y-axis W(-E) = ",
  SDEC y, CLREOL, CR, CR, "angle = ",
  DEC angle, " degrees", CLREOL
  PAUSE 150

RETURN

Fata_spate:

FOR counter = 1 TO 58
  PULSOUT 13, 750 + counter                                   '820
  PULSOUT 12, 750 - counter                                   '680
  PAUSE 20
NEXT


FOR counter = 58 TO 1
  PULSOUT 13, 750 + counter
  PULSOUT 12, 750 - counter
  PAUSE 20
NEXT

FREQOUT 3, 2000, 3000

FOR counter = 1 TO 60
  PULSOUT 13, 750 - counter                                   '680
  PULSOUT 12, 750 + counter                                   '820
  PAUSE 20
NEXT

FOR counter = 60 TO 1
  PULSOUT 13, 750 - counter
  PULSOUT 12, 750 + counter
  PAUSE 20
NEXT

RETURN



    Rich H
  • AndreiAndrei Posts: 15
    edited 2009-06-16 21:12
    Thank you for help. It wasn't that there the problem.

    This_case:
    init_state = 0
    DO
    GOSUB Compass_Get_Axes
    ' Get x, and y values
    IF init_state = 0 THEN
    init_angle = x ATN -y
    init_angle = init_angle */ 361 ' salvez unghiul initial!
    init_state = 1
    ELSE
    init_state = 1
    angle = x ATN -y ' Convert x and y to brads
    angle = angle */ 361 ' Convert brads to degrees

    IF angle < (init_angle + 90) THEN 'GOSUB comanda_motoare
    PULSOUT 13, 770
    PULSOUT 12, 770
    PAUSE 20
    ELSE
    GOSUB Fata_spate
    GOSUB Main
    ENDIF
    ENDIF
    LOOP

    Thank you again.
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