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My Programming....Need Help!! — Parallax Forums

My Programming....Need Help!!

Freshy2115Freshy2115 Posts: 9
edited 2009-07-11 04:12 in BASIC Stamp
ORIGINAL Program
'{$STAMP BS2}
'{$PBASIC 2.5}
 
' -----[noparse][[/noparse] Program Description ]-----------------
 
' -----[noparse][[/noparse] I/O Definitions ]---------------------
 
RightServo         CON 12
LeftServo          CON 13
GripServo          CON 14
 
L_IR_out           CON 11
Closing_IR_out     CON 10
R_IR_out           CON 9
 
L_IR_in            VAR IN11
Closing_IR_in      VAR IN10
R_IR_in            VAR IN9
 
' -----[noparse][[/noparse] Constants ]--------------------------
 
CloseGripper       CON 700
OpenGripper        CON 1200
LeftStop           CON 750
RightStop          CON 750
Object             CON 0
NoObject           CON 1
 
' -----[noparse][[/noparse] Varibles ]---------------------------
 
left_IR            VAR Bit
right_IR           VAR Bit
closing_IR         VAR Bit
pulses             VAR Word
pulsewidth         VAR Word
 
' -----[noparse][[/noparse] Initialization ]---------------------
 DIR8  = %1          ' i believe this part is wrong
 DIR9  = %1
 DIR11 = %1
 
' -----[noparse][[/noparse] Main Code ]---------------------------
 
GOSUB Open
 
Look_For_Item:
 GOSUB Spin_Pulse
 GOSUB Read_LR_IRs
 IF right_IR AND left_IR = NoObject THEN Look_For_Item
 
Center_On_Item:
 GOSUB Forward_Pulse
 GOSUB Zero_In
 GOSUB Read_Closing_IR
 IF closing_IR = Object THEN Move_Item
 'else
 GOTO Center_On_Item
 
Zero_In:
 GOSUB Read_LR_IRs
 IF left_IR  = Object THEN Right_Pulse
 IF right_IR = Object THEN Left_Pulse
 RETURN
 
Move_Item:
 GOSUB Close  GOSUB Backward  GOSUB Right  GOSUB Forward  GOSUB Open  GOSUB Backward  GOSUB Left  GOSUB Left
 GOTO Look_For_Item
 
' -----[noparse][[/noparse] Subroutine ]------------------------
 
Forward_Pulse:
 PULSOUT RightServo, RightStop - 140
 PULSOUT LeftServo,  LeftStop  + 140
 RETURN
 
Left_Pulse:
 PULSOUT RightServo, RightStop + 40
 PULSOUT LeftServo,  LeftStop  + 40
 RETURN
 
Right_Pulse:
 PULSOUT RightServo, RightStop - 40
 PULSOUT LeftServo,  LeftStop  - 40
 RETURN
 
Spin_Pulse:
 PULSOUT RightServo, RightStop - 140
 PULSOUT LeftServo,  LeftStop  - 140 
 RETURN
 
Forward:
 FOR pulses = 0 TO 50  
  PULSOUT RightServo, RightStop - 140
  PULSOUT LeftServo,  LeftStop  + 140
  PAUSE 20
 NEXT
 RETURN
 
Backward:
 FOR pulses = 0 TO 50
  PULSOUT RightServo, RightStop + 140
  PULSOUT LeftServo,  LeftStop  - 140
  PAUSE 20
 NEXT
 RETURN
 
Left:
 FOR pulses 0 TO 50
  PULSOUT RightServo, RightStop - 140
  PULSOUT LeftServo,  LeftStop  - 140 
  PAUSE 20
 NEXT
 RETURN
 
Right:
 FOR pulses 0 TO 50
  PULSOUT RightServo, RightStop + 140
  PULSOUT LeftServo,  LeftStop  + 140
  PAUSE 20
 NEXT
 RETURN



 
 
Stay:
 PULSOUT RightServo, RightStop 
 PULSOUT LeftServo,  LeftStop 
 PAUSE 20
 RETURN
 
Read_LR_IRs:
 FREQOUT L_IR_out, 1, 38500
 left_IR = L_IR_in
 FREQOUT R_IR_out, 1, 38500
 right_IR = R_IR_in
 RETURN
 
Read_Closing_IR:
 FREQOUT Closing_IR_out, 1, 38500
 closing_IR = ~Closing_in
 RETURN
 
Open:
 FOR pulsewidth = CloseGripper TO OpenGripper STEP 10
  PULSOUT GripServo, pulsewidth
  PAUSE 20
 NEXT
 RETURN
 
Close:
 FOR pulsewidth = OpenGripper TO CloseGripper STEP 10
  PULSOUT GripServo, pulsewidth
  PAUSE 10
 NEXT
 RETURN


MY Modified Program I'm using
'{$STAMP BS2}
'{$PBASIC 2.5}
 
' -----[noparse][[/noparse] Program Description ]-----------------
 
' -----[noparse][[/noparse] I/O Definitions ]---------------------
 
RightServo           CON 12
LeftServo            CON 13
GripServo            CON 14
LinearActuatorServo  CON 15
 
L_IR_out             CON 11
Closing_IR_out       CON 10
R_IR_out             CON 9
 
L_IR_in              VAR IN11
Closing_IR_in        VAR IN10
R_IR_in              VAR IN9
 
' -----[noparse][[/noparse] Constants ]--------------------------
 
CloseGripper         CON 1200
OpenGripper          CON 100
CloseActuator        CON 800
OpenActuator         CON 100
LeftStop             CON 750
RightStop            CON 750
Object               CON 0
NoObject             CON 1
 
' -----[noparse][[/noparse] Varibles ]---------------------------
 
left_IR              VAR Bit
right_IR             VAR Bit
closing_IR           VAR Bit
pulses               VAR Word
pulsewidth           VAR Word
 
' -----[noparse][[/noparse] Initialization ]---------------------
 DIR9   = %1          ' I changed this part
 DIR10  = %1
 DIR11  = %1
 
' -----[noparse][[/noparse] Main Code ]---------------------------
 
GOSUB Test_Gripper_System
 
Test_Gripper_System:
 GOSUB Close   GOSUB Lift   GOSUB Drop   GOSUB Open   GOSUB Lift   GOSUB Close   GOSUB Open   GOSUB Drop
 GOTO Look_For_Item







 
Look_For_Item:
 GOSUB Spin_Pulse
 GOSUB Read_LR_IRs
 IF right_IR AND left_IR = NoObject THEN Look_For_Item
 
Center_On_Item:
 GOSUB Forward_Pulse
 GOSUB Zero_In
 GOSUB Read_Closing_IR
 IF closing_IR = Object THEN Move_Item
 'else
 GOTO Center_On_Item
 
Zero_In:
 GOSUB Read_LR_IRs
 IF left_IR  = Object THEN Right_Pulse
 IF right_IR = Object THEN Left_Pulse
 RETURN
 
Move_Item:
 GOSUB Close   GOSUB Lift 
 GOSUB Backward  GOSUB Right  GOSUB Forward   GOSUB Stay                           'I thought it was strange that there was a Stay in the Subroutine 
 GOSUB Drop                             'but not in the Main Code

 GOSUB Open                               GOSUB Backward  GOSUB Left  GOSUB Left
 GOTO Look_For_Item
 
' -----[noparse][[/noparse] Subroutine ]------------------------
 
Forward_Pulse:
 PULSOUT RightServo, RightStop - 140
 PULSOUT LeftServo,  LeftStop  + 140
 RETURN
 
Left_Pulse:
 PULSOUT RightServo, RightStop + 40
 PULSOUT LeftServo,  LeftStop  + 40
 RETURN
 
Right_Pulse:
 PULSOUT RightServo, RightStop - 40
 PULSOUT LeftServo,  LeftStop  - 40
 RETURN
 
Spin_Pulse:
 PULSOUT RightServo, RightStop - 140
 PULSOUT LeftServo,  LeftStop  - 140 
 RETURN
 
Forward:
 FOR pulses = 0 TO 50  
  PULSOUT RightServo, RightStop - 140
  PULSOUT LeftServo,  LeftStop  + 140
  PAUSE 20
 NEXT
 RETURN
 
Backward:
 FOR pulses = 0 TO 50
  PULSOUT RightServo, RightStop + 140
  PULSOUT LeftServo,  LeftStop  - 140
  PAUSE 20
 NEXT
 RETURN
 
Left:
 FOR pulses 0 TO 50
  PULSOUT RightServo, RightStop - 140
  PULSOUT LeftServo,  LeftStop  - 140 
  PAUSE 20
 NEXT
 RETURN
 
Right:
 FOR pulses 0 TO 50
  PULSOUT RightServo, RightStop + 140
  PULSOUT LeftServo,  LeftStop  + 140
  PAUSE 20
 NEXT
 RETURN



 
 
Stay:
 PULSOUT RightServo, RightStop 
 PULSOUT LeftServo,  LeftStop 
 PAUSE 20
 RETURN
 
Read_LR_IRs:
 FREQOUT L_IR_out, 1, 38500
 left_IR = L_IR_in
 FREQOUT R_IR_out, 1, 38500
 right_IR = R_IR_in
 RETURN
 
Read_Closing_IR:
 FREQOUT Closing_IR_out, 1, 38500
 closing_IR = ~Closing_in
 RETURN
 
Open:
 FOR pulsewidth = CloseGripper TO OpenGripper STEP 10
  PULSOUT GripServo, pulsewidth
  PAUSE 20
 NEXT
 RETURN
 
Close:
 FOR pulsewidth = OpenGripper TO CloseGripper STEP 10
  PULSOUT GripServo, pulsewidth
  PAUSE 10
 NEXT
 RETURN
 
Lift:
 FOR pulsewidth = CloseActuator TO OpenActuator STEP 1
  PULSOUT LinearActuatorServo, pulsewidth
  PAUSE 10
 NEXT
 RETURN
 
Drop:
 FOR pulsewidth = OpenAcuator TO CloseActuator STEP 10
  PULSOUT LinearActuatorServo, pulswidth
  PAUSE 10
 NEXT
 RETURN


my sensors arent reading right
·the left IR tells the rightside to slow down instead of speed up and my right IR isnt reading at all

Comments

  • $WMc%$WMc% Posts: 1,884
    edited 2009-07-08 04:55
    Freshy2115
    Try calling the Main code "Main:" I'm not sure if this will help but I see no way to get back to Your Main code with out calling it Main:.

    I assume the code compiled OK, I really don't see anything Else wrong on a quick read through.



    ______$WMc%____________

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    The Truth is out there············································ BoogerWoods, FL. USA
  • FranklinFranklin Posts: 4,747
    edited 2009-07-08 16:41
    You need to write a simple program that tests only the device you are having a problem with. Trying to debug a complicated program adds too many variables to the mix. Sounds like you have a coding error and a wiring problem. Simplify and test, use debug to see what your values are and if they are what you expect.

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    - Stephen
  • JDJD Posts: 570
    edited 2009-07-08 20:21
    Freshy2115,

    Have you made any of the changes suggested? If so, what were those results?

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    Respectfully,


    Joshua Donelson
    www.parallax.com
  • Freshy2115Freshy2115 Posts: 9
    edited 2009-07-09 19:57
    ok heres my wiring

    its as an attachment..... i still have issues with my programming....i no longer have access to a computer with the stamp software.. is there an online version of this software??? if not is its possible to bring my robot to your company??





    btw thanks for the help its much appreciated... however my robot is a combination of Vex, Gears, and the BoeBot kits



    im entering this robot into the California State Fair....

    ·so i need to get everything done before Saturday...

    my only computer i had access to that had the software·was at my High School
    josh_robot_thing2.JPG
    719 x 735 - 76K
  • JDJD Posts: 570
    edited 2009-07-09 22:37
    Freshy2115,

    Unfortunately we do not have an online version of the software; so it will be difficult to change any programs.

    We don’t have any labs for you to program the robot with either, do you have any friends that you can use their PC? The software is a free download, or you can use a CD to get the software to run so it wouldn’t be hard to install. Just need to have a PC.


    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    Respectfully,


    Joshua Donelson
    www.parallax.com
  • vaclav_salvaclav_sal Posts: 451
    edited 2009-07-10 01:07
    Run a test on the following snipet.
    Add debug as suggested to see your error.

    FOR pulses 0 TO 50

    · DEBUG ? pulse

    · PULSOUT RightServo, RightStop - 140
    · PULSOUT LeftServo,· LeftStop··- 140
    · PAUSE 20
    ·NEXT

    As suggested by forum members - simplify and divide your program to find coding errors.
    DEBUG is your friend.

    Cheers Vaclav
  • Freshy2115Freshy2115 Posts: 9
    edited 2009-07-11 04:12
    thank you guys so much for helping!!!

    when i debuged my the pulses i found out that CON 12 turned out to be Malfuntioning... so i rewired everything and debuged my sensors.. AND GUESS WHAT?!?!?!

    My Robot Is Fulling Functioning NOW!!!!!

    everything is working and thats all thanks to you the parallax members!!!



    i dont think i would've got this done in time especiaally the fact i wrote this code practically by myself....

    Again I would like to thank everyone who helped this 17 year old High School Student out... It was all very helpfull
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