Hard Reset Problem (Very hard reset)
Chris The Carpenter
Posts: 18
I would like to pre-thank you guys, I have lurked for quite a while and asked my very first question just a week or so ago. I found friendly people and good answers and I appreciate that. I am running into a weird issue and I hope the same will happen with this problem.
I am running a Gadget Gangster USB prop board on Walter, my robot. Walter is about as big as a dog, weighs about 80 lbs and is super awesome. The major parts (that would have any bearing to this conversation) are the main board, a Arduino-based motor driver board speaking i2c, a second arduino that simply fires off my (4) sonars and sends the data to the prop (UART serial), a thumb-drive mp3 player (speaking serial) and a i2c servo driver board. The 5V regulator (on the prop board itself) has been jumped (per manufacturer's instructions) and 5v power is supplied by an external 5v 3A regulator. Everything else --main drive and servos have their own volt regulators. Juice comes from a big ol' 12V SLA battery. There is more --blinkM's etc. but nothing else worth mentioning.
I am having problems with the chip/board doing it's own "hard reset". This is a new problem, and did not exist in the past using the same hardware and similar code. When I say "hard reset" I mean that the main 5V power supply is being pulled low. I even caught it on a scope. This is a picture of the reset. When this was taken, I had the probe on the main 5V supply (from the 5v regulator and the same supply that feeds everything 5v) and the ground.
Attachment not found.
You can see that "something" is yanking my power down to nothing. It is the same swoop down to low then a square corner and it shoots back to high. The O-scope says that every reset is exactly the same length give or take a few uS. If you have turned the board on for the first time, the reset happens after about 4 minutes. If you let it run from there, the resets come more frequently --sometimes every 15 or 20 seconds. They resets seem to also happen more when more cogs are running. Removing the WiiCamera object and code seems to help but I can't confirm that removing it fixes my problem. I would have thought this was an "overflow" or a "null-style" problem (it feels like that kinda problem), but I don't like the looks of the scope trace --This is not just some kinda internal reset from code that blew-up, something is pulling down hard.
A click to the .spin file is just below.
[PHP]
(Don't click the big button when you get there--it is an ad)
Look for "Navigation 20 --Reset Problem"
Code is Here
I thank you all in advance for your time.
I am running a Gadget Gangster USB prop board on Walter, my robot. Walter is about as big as a dog, weighs about 80 lbs and is super awesome. The major parts (that would have any bearing to this conversation) are the main board, a Arduino-based motor driver board speaking i2c, a second arduino that simply fires off my (4) sonars and sends the data to the prop (UART serial), a thumb-drive mp3 player (speaking serial) and a i2c servo driver board. The 5V regulator (on the prop board itself) has been jumped (per manufacturer's instructions) and 5v power is supplied by an external 5v 3A regulator. Everything else --main drive and servos have their own volt regulators. Juice comes from a big ol' 12V SLA battery. There is more --blinkM's etc. but nothing else worth mentioning.
I am having problems with the chip/board doing it's own "hard reset". This is a new problem, and did not exist in the past using the same hardware and similar code. When I say "hard reset" I mean that the main 5V power supply is being pulled low. I even caught it on a scope. This is a picture of the reset. When this was taken, I had the probe on the main 5V supply (from the 5v regulator and the same supply that feeds everything 5v) and the ground.
Attachment not found.
You can see that "something" is yanking my power down to nothing. It is the same swoop down to low then a square corner and it shoots back to high. The O-scope says that every reset is exactly the same length give or take a few uS. If you have turned the board on for the first time, the reset happens after about 4 minutes. If you let it run from there, the resets come more frequently --sometimes every 15 or 20 seconds. They resets seem to also happen more when more cogs are running. Removing the WiiCamera object and code seems to help but I can't confirm that removing it fixes my problem. I would have thought this was an "overflow" or a "null-style" problem (it feels like that kinda problem), but I don't like the looks of the scope trace --This is not just some kinda internal reset from code that blew-up, something is pulling down hard.
A click to the .spin file is just below.
[PHP]
CON
_clkmode =xtal1 + pll16x
_xinfreq =5_000_000
TO_IN =73_746 'Conversion needed for SRF-05's
FWTC =6 'forward way too close
FD =18 'standard fwd danger
FTC90 =14 'too close to do a 90 slide turn
DT =28 'done turning (90 off of sonar)
WTT =30 'Want to start turning
WSD =14 'Wall side danger
CT =2 'Center Threashold
STTW =12 'stop turning this way
ST =18 'Something there side
OFF =100 'motors off
SpeedUp =0 'horrible work-around for dying battery --gotta finish calibration thing
sclpin =23 'sda = scl+1
clockpin =25 'This is the WiiCamera Stuff
resetpin =26
OBJ
i2cMotors : "i2cObjectarduino" 'i2c lines for the motor driver
i2cObject : "i2cObjectBlinkm" 'all servos, I/O expander,
i2cObject2 : "i2cObjectBlinkm" 'BlinkM;s
text : "ORE_TV_Text_009" 'I guess we are going with Game Boy Text
Encoder : "Quadrature Encoder"
Mp3 : "Simple_Serial"
Arduino : "Simple_Serial"
Numbers : "Numbers"
wii : "wiicamera"
VAR
long Pos[3] 'this is for the encoders
byte tbuf[20] 'this is for fsrw SD card ??? I think...
byte range[5] 'this is for the sonar
byte FLspeed,FRspeed,BLspeed,BRspeed 'FwdLeft, FwdRight, BackLeft BackRight
byte FLoff,FRoff,BLoff,BRoff 'These are offsets or "overshoot" numbers when using the encoders to turn and stop
byte TXmode,DriveMode,TurnMode,OverRideTurn,TurnRequested
byte Rxleft,Rxright,buttons 'these are X-bee numbers coming in
byte ServoRequested[11]
byte ServoCurrent[11]
byte ServoStatic[4]
long Seconds
byte blinkM
byte mp3str[4]
byte mp3str2[5]
byte mp3str3[10]
byte PlayNow
long Stack[600]
byte BeaconFound,BeaconFollow,GoHome,goingup,PlayingQuirk
long Width,Height,WiiCenterX,WiiCenterY
long wiix[5]
long wiiy[5]
long wiisize
long out_data[36]
byte ArduinoData[5]
PUB init | i
text.start(12)
waitcnt(clkfreq*5 + cnt) 'this is warm-up time for the mp3 player
'wii.Start (sclpin,clockpin,resetpin) 'fire up the wii camera
'wii.initcam(3,@level2)
i2cObject.Init(29,28,true) 'Servo driver, Compass, etc
i2cObject.Start
i2cObject2.Init(9,8,true) 'blinkM's --Gotta desolder pull-ups so these will play nice with the other i2c stuff --get your pins back
i2cObject2.Start
i2cObject2.blinkroutine(10,3)
i:=1
Repeat 10
ServoCurrent[i]:=125 'Pre-load all the servo arrays with "centered"
ServoRequested[i]:=125
i++
i2cObject.head(125,125,125) 'Center all the servos
i2cObject.tophat(125)
i2cObject.sonarservos(125,125)
i2cObject.laser(125,125)
i2cObject.camera(125,125)
Encoder.Stop
Encoder.Start(4, 2, 0, @Pos) 'Clear and fire up encoders
Mp3.init(10,11,9600) 'mp3 serial
Arduino.init(27,22,9600) 'arduino (sensors) serial
Mp3.str(string("E")) 'are you there? echo
Mp3.tx(13)
waitcnt(clkfreq + cnt)
Mp3.str(string("IPA")) 'this is "commands in ASCII", I think
Mp3.tx(13)
waitcnt(clkfreq/2 + cnt)
Mp3.str(string("SCS")) 'shortened command set
Mp3.tx(13)
waitcnt(clkfreq*2 + cnt)
FLspeed:=151 'finish the calibration routine stuff and fix this
FRspeed:=160 'this "slow down as the battery dies" is getting old.
BLspeed:=52
BRspeed:=44
FLoff:=12
FRoff:=3
BLoff:=13
BRoff:=4
DriveMode:=0 'main drive is off
BlinkM:=10 'this is the regular loop with all colors
Overrideturn:=0 'clear override
BeaconFound:=0 'number of points of IR light found
BeaconFollow:=0 '1= wiicamera servo will scan (x only) for a beacon -when found, locks on.
TurnRequested:=0 'used with docking, "beacon follow" and "IR follow-the-leader"
'COGS So Far
'Main loop
'Servos and "seconds" counter
'Encoders
'TV
'Drive
'Wiimote
'Arduino --this is the arduino doing the sonar, not the motordriver arduino
cognew(Servos,@stack) 'to try to fix the hard-reset problem, I have tried removing some and all of these
cognew(ArduinoListen,@stack[100]) 'it does not seem to matter what is running
cognew(Drive,@stack[200])
Main
PUB Main | x,stoppos,remheadsec,remquirksec,firsttime
DriveMode:=0 '0=Off 1=Reg Auto 2=IR Follow the Leader with no sensors 3=R/C
OverRideTurn:=0
TurnRequested:=0
BeaconFollow:=0
GoHome:=0
Playmp3(64) ' "Hello, I am Walter"
waitcnt(clkfreq*3 + cnt)
Playmp3(58) ' "Autonomous Mode"
RemHeadSec:=seconds ' timer for head moves
RemQuirkSec:=seconds ' timer for all personallity events
repeat
Display(2)
if gohome<>1 'If we are not in "follow the beacon" or "docking" mode
if seconds=>RemHeadSec+2
StaticHead(x) 'x is "randomized" each loop
RemHeadsec:=seconds 'reset the timer
if seconds=>RemQuirksec+60 and PlayingQuirk==0 ' "personallity" quirk is just docking for now
StaticHead(1) ' center head
PlayingQuirk:=1 ' set flag
Firsttime:=0 ' clear "do it once" flag
gohome:=1 ' set "request for docking" flag
BeaconFollow:=1 ' request wiicamera scanning and lock-on routine
BlinkM:=14 'red ' eyes to red(s)
if gohome==1
ServoRequested[1]:=ServoCurrent[6] 'Head rotate now follows wiicamera rotate --so he looks at the beacon
CheckForBeacon 'Duh, its the check-for-beacon routine!
if beaconfound>0 'If we have found the beacon
if FirstTime==0 'if we just found it
FirstTime:=1 ' set "we did it already" flag
DriveMode:=0 ' kill drive and stop
waitcnt(clkfreq + cnt)
PlayMp3(79) ' "beacon detected"
waitcnt(clkfreq*2 + cnt)
PlayMp3(30) ' "Starting docking routine"
waitcnt(clkfreq*2 + cnt)
DriveMode:=1 ' Fire up drive again
if wiisize<3
DriveMode:=1 'as long as we keep seeing the beam --drive in that direction
case ServoCurrent[6] 'angle of the wiicamera servo tells us which way to steer
1..52 : TurnRequested :=11 'slight left
53..105 : TurnRequested :=12 'hard left
106..145: TurnRequested :=0 'fwd
146..198: TurnRequested :=13 'hard right
199..255: TurnRequested :=14 'slight right
if wiisize==3 'if the blob size is the same as threashold (we are given distance from target)
OverRideTurn:=9
DriveMode:=0 'kill motors
BlinkM:=13 'blue 'blue eyes
waitcnt(clkfreq/4 + cnt)
PlayMp3(61) 'I am docked
waitcnt(clkfreq*4 + cnt)
PlayMp3(29) ' "I am leaving the dock"
waitcnt(clkfreq*2 + cnt)
OverRideTurn:=0 'clear everything
GoHome:=0
Beaconfollow:=0
TurnRequested:=0
DriveMode:=1 'start drive back up
PlayingQuirk:=0 'clear the personallity flag
RemQuirkSec:=seconds 'restart the personallity timer
x++
if x==25 'this is "random" generator --used to select "random" headmoves during auto mode
x:=1
PUB Drive | stoppos
i2cMotors.init(21,20,true) 'Main Drive --This is i2c to the arduino slave on the motor driver board
i2cMotors.Start
repeat
if DriveMode==0 'this is main drive on/off
motormath(OFF,OFF)
if DriveMode==1 'this is main drive on/off and "modes" R/C etc.
turnmode:=TurnRequested 'start with a turn request --if we don't do a sensor-turn, it will be executed.
if range[1]<FWTC or range[2]<FWTC 'if either fwd is way too close this is WTC routine
motormath(OFF,OFF)
stoppos:=-60
waitcnt(clkfreq*2 + cnt)
Encoder.Stop 'clear encoders
Encoder.Start(4, 2, 0, @Pos) 'start encoders
repeat until Pos[0]=<stoppos 'backup 6 inches off of left wheel
motormath(BLspeed,BRspeed)
waitcnt(clkfreq/1000*5 + cnt) ' a little hiccup to keep from fire-hosing my motor driver with data
motormath(OFF,OFF)
waitcnt(clkfreq + cnt)
Encoder.Stop 'clear the encoders
Encoder.Start(4, 2, 0, @Pos)
stoppos:=35
If range[3]>range[4]
repeat until Pos[1]=>stoppos 'spin to the left away from "way too close" off of encoders
motormath(BLspeed,FRspeed)
waitcnt(clkfreq/1000*5 + cnt)
else
repeat until Pos[0]=<stoppos 'spin to the right away from "way too close" off of encoders
motormath(FLspeed,BRspeed)
waitcnt(clkfreq/1000*5 + cnt)
motormath(OFF,OFF)
waitcnt(clkfreq*2 + cnt)
Encoder.Stop 'we're done --restart the encoders --back to the main routine
Encoder.Start(4, 2, 0, @Pos)
turnmode:=0
if range[3]<WSD 'Wall side danger
turnmode:=3 'wall slide to the right
if range[4]<WSD 'Wall side danger
turnmode:=4 'wall slide to the left
if range[1]<WTT and range[2]<WTT 'both forward sonars see something coming up
if range[3]>Range[4] and Range[3]>ST 'if left is more open and it is farther than "something there" then turn that way
turnmode:=1
else
If Range[4]>ST
turnmode:=2 'or turn the other way
if range[1]<FD
turnmode:=5 'one fwd sonar < forward danger
if range[2]<FD
turnmode:=6 'one fwd sonar < forward danger
if turnmode==1 or turnmode==6
if range[2]<FTC90
turnmode:=7 'slide to left is now a spin --we got too close
if turnmode==2 or turnmode==5
if range[1]<FTC90
turnmode:=8 'slide right is now a spin --we got too close
if overrideturn>0
turnmode:=overrideturn 'screw the sonar, the main loop knows better --override turn and do what I say --then clear it
overrideturn:=0
case turnmode
0: motormath(FLspeed,FRspeed) 'Forward
1:
repeat
motormath(OFF,FRspeed) 'slide to left
if range[2]<FTC90
quit
if range[2]>DT and range[1]>DT
quit
if range[1]<FWTC or range[2]<FWTC
quit
2:
repeat
motormath(FLspeed,OFF) 'slide to right
if range[1]<FTC90
quit
if range[1]>DT and range[2]>DT
quit
if range[1]<FWTC or range[2]<FWTC
quit
3:
motormath(FLspeed,FRspeed-20) '1/2 power wall slide to right
4:
motormath(FLspeed-15,FRspeed) '1/2 power wall slide to left
5:
repeat
motormath(FLspeed,OFF) 'slide around corner 90 right
if range[1]<FTC90
quit
if range[1]>DT
quit
if range[1]<FWTC or range[2]<FWTC
quit
6:
repeat
motormath(OFF,FRspeed) 'slide around corner 90 left
if range[2]<FTC90
quit
if range[2]>DT
quit
if range[1]<FWTC or range[2]<FWTC
quit
7:
repeat
motormath(BLspeed,FRspeed) 'left spin
if range[2]>DT and range[1]>DT
quit
if range[1]<FWTC or range[2]<FWTC
quit
8:
repeat
motormath(FLspeed,BRspeed) 'right spin
if range[2]>DT and range[1]>DT
quit
if range[1]<FWTC or range[2]<FWTC
quit
9: motormath(OFF,OFF) 'this is allstop because of WTC ***Remember to deal with this in main loop
10: motormath(OFF,OFF) 'get around to making this a ramped stop
11: motormath(FLspeed-20,FRspeed) 'Hard left wii IR
12: motormath(FLspeed-10,FRspeed)'Soft Left Wii IR
13: motormath(FLspeed,FRspeed-10) 'Soft Right Wii IR
14: motormath(FLspeed,FRspeed-20) 'Hard right wii IR
15: 'fwd off encoders
16: 'rev off encoders
17: 'encoder spin left
18: 'encoder spin right
PUB CheckForBeacon | requesttemp,requesttemp2
wii.getblobs (@out_data)
wiix[1]:=wii.getx(@out_data,3,0)
wiiy[1]:=wii.gety(@out_data,3,0)
wiisize:=wii.getsize(@out_data,3,0)
wiix[2]:=wii.getx(@out_data,3,1)
wiiy[2]:=wii.gety(@out_data,3,1)
wiix[3]:=wii.getx(@out_data,3,2)
wiiy[3]:=wii.gety(@out_data,3,2)
wiix[4]:=wii.getx(@out_data,3,3)
wiiy[4]:=wii.gety(@out_data,3,3)
beaconfound:=0
if wiix[1]<>1023
beaconfound:=1
if wiix[1]<>1023 and wiix[2]<>1023
beaconfound:=2
if wiix[1]<>1023 and wiix[2]<>1023 and wiix[3]<>1023
beaconfound:=3
if wiix[1]<>1023 and wiix[2]<>1023 and wiix[3]<>1023 and wiix[4]<>1023
beaconfound:=4
if beaconfollow==1
case beaconfound
0:
if goingup==1
Servocurrent[6]:=Servocurrent[6]+2
if goingup==0
Servocurrent[6]:=Servocurrent[6]-2
if Servocurrent[6]>245
goingup:=0
if Servocurrent[6]<10
goingup:=1
ServoCurrent[7]:=100
Width:=0
1:
Width:=0
if Wiix[1]<400
requesttemp:=Servocurrent[6]+20
requesttemp:=requesttemp<#250 #>1
ServoCurrent[6]:=requesttemp
if Wiix[1]>600
requesttemp:=Servocurrent[6]-20
requesttemp:=requesttemp<#250 #>1
ServoCurrent[6]:=requesttemp
if WiiY[1]<300
requesttemp2:=Servocurrent[7]+10
requesttemp2:=requesttemp2<#250 #>1
ServoCurrent[7]:=requesttemp2
if WiiY[1]>700
requesttemp2:=Servocurrent[7]-10
requesttemp2:=requesttemp2<#250 #>1
ServoCurrent[7]:=requesttemp2
2:
Width:=||(wiix[2]-wiix[1])
WiiCenterY:=(wiiy[1]+wiiy[2])/2
if wiix[1]<wiix[2]
WiicenterX:=Wiix[1]+(width/2)
else
WiicenterX:=Wiix[2]+(width/2)
if BeaconFollow:=1
if WiicenterX<400
requesttemp:=Servocurrent[6]+20
requesttemp:=requesttemp<#250 #>1
ServoCurrent[6]:=requesttemp
if WiicenterX>600
requesttemp:=Servocurrent[6]-20
requesttemp:=requesttemp<#250 #>1
ServoCurrent[6]:=requesttemp
if WiiCenterY<300
requesttemp2:=Servocurrent[7]+10
requesttemp2:=requesttemp2<#250 #>1
ServoCurrent[7]:=requesttemp2
if WiiCenterY>700
requesttemp2:=Servocurrent[7]-10
requesttemp2:=requesttemp2<#250 #>1
ServoCurrent[7]:=requesttemp2
else
ServoRequested[6]:=125
ServoRequested[7]:=100
Width:=0
PUB Display(Data) | temp1,temp2,temp3,temp4,temp5,temp6,temp7,temp8,c,d,e
c:=$07 'white
d:=$78 'blue
e:=$78 'blue
case Data
1:
text.cls
drawbox(0,0,20,24,d,d,d) 'main border
drawbox(1,1,18,3,d,d,d) 'top title box
text.str(2,2,string(" Stand By "))
text.updatescreen
2: ''this is auto
temp3:=20
temp1:=range[1]
temp1:=temp1<#30
temp1:=temp1#>1
temp1:=temp1/2
temp4:=20
temp2:=range[2]
temp2:=temp2<#30
temp2:=temp2#>1
temp2:=temp2/2
temp6:=10
temp5:=range[4]-4
temp5:=temp5<#15
temp5:=temp5#>1
temp5:=temp5/3 #>1
temp8:=9
temp7:=range[3]
temp7:=temp7<#15
temp7:=temp7#>1
temp7:=temp7/3 #>1
text.cls
drawbox(0,0,20,24,d,d,d) 'main border
drawbox(1,4,3,19,d,d,d) 'fwd sonar L
drawbox(16,4,3,19,d,d,d) 'fwd sonar R
drawbox(4,20,12,3,d,d,d) 'side sonar
drawbox(1,1,18,3,d,d,d) 'top title box
repeat temp1
text.PokeChar(2,temp3,c,c,c,$0F)
temp3--
repeat temp2
text.PokeChar(17,temp4,c,c,c,$0F)
temp4--
repeat temp5
text.PokeChar(temp6,21,c,c,c,$0F)
temp6++
repeat temp7
text.PokeChar(temp8,21,c,c,c,$0F)
temp8--
text.str(2,2,string("Autonomous Mode"))
text.str(4,5,string("In/Sec"))
text.dec(11,5,9) 'place keepre
text.str(4,7,string("LWheel"))
text.dec(11,7,Pos[0])
text.str(4,9,string("RWheel"))
text.dec(11,9,Pos[1])
text.str(4,11,string("LSpeed"))
text.dec(11,11,FLspeed) 'this is a place keeper
text.str(4,13,string("RSpeed"))
text.dec(11,13,FRspeed)
text.str(4,15,string("T.Mode"))
text.dec(11,15,turnmode)
text.str(4,17,string("Second")) 'this is a place keeper
text.dec(11,17,seconds)
text.updatescreen
3:
text.cls
drawbox(0,0,20,24,d,d,d) 'main border
drawbox(1,1,18,3,d,d,d) 'top title box
text.str(2,2,string(" X-Bee Watching "))
text.str(4,7,string("Left"))
text.dec(12,7,Rxleft)
text.str(4,9,string("Right"))
text.dec(12,9,Rxright)
text.str(4,15,string("Buttons"))
text.dec(12,15,buttons)
text.str(4,17,string("Seconds"))
text.dec(12,17,Seconds)
text.updatescreen
text.updatescreen
4: 'this is mp3 playback
text.cls
drawbox(0,0,20,24,d,d,d) 'main border
drawbox(1,1,18,3,d,d,d) 'top title box
text.str(2,2,string(" Mp3 Player "))
text.str(5,8,string("Playing Track"))
text.str(5,10,string(" Place Keeper "))
text.UpdateScreen
5:
text.cls
drawbox(0,0,20,24,d,d,d) 'main border
drawbox(1,1,18,3,d,d,d) 'top title box
text.str(2,2,string("Wii Camera Watch"))
text.str(3,6,string("WiiX"))
text.dec(13,6,wiix[1])
text.str(3,8,string("WiiY"))
text.dec(13,8,wiiy[1])
text.str(3,10,string("WiiX2"))
text.dec(13,10,wiix[2])
text.str(3,12,string("WiiY2"))
text.dec(13,12,wiiy[2])
text.str(3,14,string("Size"))
text.dec(13,14,WiiSize)
text.str(3,16,string("Beacons"))
text.dec(13,16,beaconfound)
text.str(3,18,string("Seconds"))
text.dec(13,18,seconds)
text.UpdateScreen
6:
text.updatescreen
temp3:=20
temp1:=range[1]
temp1:=temp1<#30
temp1:=temp1#>1
temp1:=temp1/2
temp4:=20
temp2:=range[2]
temp2:=temp2<#30
temp2:=temp2#>1
temp2:=temp2/2
temp6:=10
temp5:=range[4]-4
temp5:=temp5<#15
temp5:=temp5#>1
temp5:=temp5/3 #>1
temp8:=9
temp7:=range[3]
temp7:=temp7<#15
temp7:=temp7#>1
temp7:=temp7/3 #>1
text.cls
drawbox(0,0,20,24,d,d,d) 'main border
drawbox(1,4,3,19,d,d,d) 'fwd sonar L
drawbox(16,4,3,19,d,d,d) 'fwd sonar R
drawbox(4,20,12,3,d,d,d) 'side sonar
drawbox(1,1,18,3,d,d,d) 'top title box
repeat temp1
text.PokeChar(2,temp3,c,c,c,$0F)
temp3--
repeat temp2
text.PokeChar(17,temp4,c,c,c,$0F)
temp4--
repeat temp5
text.PokeChar(temp6,21,c,c,c,$0F)
temp6++
repeat temp7
text.PokeChar(temp8,21,c,c,c,$0F)
temp8--
text.str(2,2,string("Auto/Wii Mode"))
if beaconfound<2
text.str(4,5,string("TargetX"))
text.dec(12,5,Wiix[1])
text.str(4,7,string("TargetY"))
text.dec(12,7,WiiY[1])
if beaconfound=>2
text.str(4,5,string("TargetX"))
text.dec(12,5,WiiCenterX)
text.str(4,7,string("TargetY"))
text.dec(12,7,WiiCenterY)
text.str(4,9,string("Size"))
text.dec(12,9,WiiSize)
text.str(4,11,string("Beacons"))
text.dec(12,11,BeaconFound) 'this is a place keeper
text.str(4,13,string("Request"))
text.dec(12,13,TurnRequested)
text.str(4,15,string("T.Mode")) 'this is a place keeper
text.dec(12,15,TurnMode)
text.str(4,17,string("Seconds")) 'this is a place keeper
text.dec(12,17,Seconds)
text.updatescreen
7:
text.cls
drawbox(0,0,20,24,d,d,d) 'main border
drawbox(1,1,18,3,d,d,d) 'top title box
text.str(2,2,string(" Arduino Watch"))
text.str(3,6,string("One"))
text.dec(13,6,Range[1])
text.str(3,8,string("Two"))
text.dec(13,8,Range[2])
text.str(3,10,string("Three"))
text.dec(13,10,Range[3])
text.str(3,12,string("Four"))
text.dec(13,12,Range[4])
text.str(3,16,string("Seconds"))
text.dec(13,16,seconds)
text.updatescreen
PUB drawbox (x1,y1,w,h,c,d,e) | i
w--
h--
text.PokeChar(x1,y1,c,d,e,$10) 'upper left
text.PokeChar(x1+w,y1,c,d,e,$12) 'upper right
text.PokeChar(x1,y1+h,c,d,e,$13) 'lower left
text.PokeChar(x1+w,y1+h,c,d,e,$15) 'lower right
i:=x1+1
repeat w-1
if i>x1 and i<x1+w
text.PokeChar(i,y1,c,d,e,$11) 'Hort.
text.PokeChar(i,y1+h,c,d,e,$11) 'Hort.
i++
i:=y1+1
repeat h-1
if i>y1 and i<i+h
text.PokeChar(x1,i,c,d,e,$16) 'vert
text.PokeChar(x1+w,i,c,d,e,$16) 'vert
i++
PUB Servos | i,RemTime 'this is all servos, time and 29/28 i2c
RemTime := ( clkfreq / 1000 ) * 1000 + cnt
Repeat
if (RemTime - cnt) < 0 'this is my poor-man's "second" timer --not very accurate but fine for timing "personallity" changes
seconds++
RemTime := ( clkfreq / 1000 ) * 1000 + cnt 'leave in /1000 vs. *1000 thing to be able to adjust
i:=1
Repeat 10
if i<>6 and i<>7
if ServoRequested[i]>ServoCurrent[i]
ServoCurrent[i]++
ServoCurrent[i]:=ServoCurrent[i]<#ServoRequested[i]
if ServoRequested[i]<ServoCurrent[i]
ServoCurrent[i]--
ServoCurrent[i]:=ServoCurrent[i]#>ServoRequested[i]
i++
ServosOut
PUB motormath (rcleft,rcright) | sendl,sendr,lmode,rmode
' this simply translates numbers so they will talk to my main loop, my RC transmitter and my motordriver
case rcleft
0 : sendl := 0
lmode := 1
98..102 : sendl := 0
lmode := 2
103..200 : sendl := (rcleft-103)+speedup 'convert and fwd
lmode := 2
1..97 : sendl := (97-rcleft)+speedup 'convert and add reverse
lmode := 0
255 : sendl := 0
lmode := 1
case rcright
0 : sendr := 0
rmode := 1
98..102 : sendr := 0
rmode := 2
103..200 : sendr := (rcright-103)+speedup 'convert and fwd
rmode := 2
1..97 : sendr := (97-rcright)+speedup'convert and add reverse
rmode := 0
255 : sendr := 0
rmode := 1
i2cMotors.sendmotors(lmode,sendl,rmode,sendr)
PUB ArduinoListen | firstbyte,Arduinoecho
'this is an arduino slave that takes care of all my sonar and spits out serial data
repeat
firstbyte := Arduino.rx
if firstbyte==254
Range[2]:= Arduino.rx
Range[1]:= Arduino.rx
Range[3]:= Arduino.rx
Range[4]:= Arduino.rx
Arduinoecho:=Arduino.rx 'I have no idea what this extra byte is
PUB Playmp3 (playit) | x
' this takes a track number, stringifies it, builds it up with the rest of what we need for the "command" and sends it off to
' the mp3 player
x:=Numbers.ToStr(playit,%1010)
SetString(@mp3str, (x))
SetString( @mp3str2, String(".mp3"))
AddString ( @mp3str3,@mp3str,@mp3str2) '
Mp3.tx(29) 'this is the play command
Mp3.str(@mp3str3) 'what track to play
Mp3.tx(13) 'end send
PUB statichead (Index) 'this is a list of head positions for the 3 servos that move the head
ServoRequested[1] := lookup(Index:125,125,125,125,125,190,255,90,10,190,255,90,10,190,255,90,10,190,255,90,10,190,255,90,10)
ServoRequested[2] := lookup(Index:125,95,10,190,250,125,125,125,125,95,95,95,95,10,10,10,10,190,190,190,190,250,250,250,250)
ServoRequested[3] := lookup(Index:125,160,250,65,10,125,125,125,125,160,160,160,160,250,250,250,250,65,65,65,65,10,10,10,10)
PRI AddString( dstStrPtr, srcStrPtr1, srcStrPtr2 ) | len
len := StrSize(srcStrPtr1)
ByteMove(dstStrPtr, srcStrPtr1, len)
ByteMove(dstStrPtr += len, srcStrPtr2, StrSize(srcStrPtr2)) '+1 for zero termination
PRI SetString( dstStrPtr, srcStrPtr )
ByteMove(dstStrPtr, srcStrPtr, StrSize(srcStrPtr)) '+1 for zero termination
PRI ServosOut
'the main servos routine calls on this --I don't know why I don't just add it to the servos routine --Hmmm....
i2cObject.start
i2cObject.writeLocation($C2,10,ServoCurrent[1], 8, 8) 'head rotate
i2cObject.writeLocation($C2,11,ServoCurrent[2], 8, 8) 'left tilt
i2cObject.writeLocation($C2,12,ServoCurrent[3], 8, 8) 'right tilt
i2cObject.writeLocation($C2,3,ServoCurrent[4], 8, 8) 'laser rot
i2cObject.writeLocation($C2,4,ServoCurrent[5], 8, 8) 'laser tilt
i2cObject.writeLocation($C2,20,ServoCurrent[6], 8, 8) 'camera rot
i2cObject.writeLocation($C2,19,ServoCurrent[7], 8, 8) 'camera tilt
i2cObject.writeLocation($C2,13,ServoCurrent[8], 8, 8) 'Tophat
i2cObject.writeLocation($C2,1,ServoCurrent[9], 8, 8) 'Lsonar
i2cObject.writeLocation($C2,2,ServoCurrent[10], 8, 8) 'Rsonar
i2cObject.stop
DAT
''Bunch of Smile that makes the WiiCamera Go
custom_settings byte $00
byte $00
byte $00
byte $00
byte $00
byte $00
byte $90 ' Max blob size
byte $00
byte $41 ' Gain
byte $40 ' Gain limit
byte $03 ' Min blob size
' Some settings used by wii and suggested by others, from http://wiibrew.org/wiki/Wiimote
Marcan byte $00,$00,$00,$00,$00,$00,$90,$00,$C0,$40,$00 ' Suggested by Marcan
Cliff byte $02,$00,$00,$71,$01,$00,$AA,$00,$64,$63,$03 ' Suggested by Cliff
inio byte $00,$00,$00,$00,$00,$00,$90,$00,$41,$40,$00 ' Suggested by inio
level1 byte $02,$00,$00,$71,$01,$00,$64,$00,$FE,$FD,$05 ' Wii level 1
level2 byte $02,$00,$00,$71,$01,$00,$96,$00,$B4,$B3,$04 ' Wii level 2
level3 byte $02,$00,$00,$71,$01,$00,$AA,$00,$64,$63,$03 ' Wii level 3 (as per Cliff)
level4 byte $02,$00,$00,$71,$01,$00,$C8,$00,$36,$35,$03 ' Wii level 4
level5 byte $07,$00,$00,$71,$01,$00,$72,$00,$20,$1F,$03 ' Wii level 5
Here is the code I am running. I did a tidy-up and a bunch of comments.(Don't click the big button when you get there--it is an ad)
Look for "Navigation 20 --Reset Problem"
Code is Here
I thank you all in advance for your time.