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XBee wireless troubles — Parallax Forums

XBee wireless troubles

gennarobasso81gennarobasso81 Posts: 84
edited 2012-11-24 22:00 in Accessories
thank you for looking at my post,

I am having some issues with the xbee. I read through the manual for reference and still not sure.

I am trying to make a wireless remote control for a boe bot.

Using:
1 x 2 axis joystick
2 x push buttons
2 x BS2
1 x lcd


so far i am still testing the xbee's to get a better understanding of them. I have code for making the pushbuttons make two leds light up. I would like to make the pushbuttons do preset servo actions.

eventually i would like to use the 2 axis joystick to control the servo's forward and back, left and right. The push buttons would be for a 90 degree turn left and right. The code is still in the begining stage.

' {$STAMP BS2}
' {$PBASIC 2.5}
 

'----------------[Initialize]---------------------------
PAUSE 5
SEROUT 2, 84, [22,12]

SEROUT 2, 84,50, [22,17, "Hello", 13, "Geno"]
PAUSE 1000
SEROUT 2, 84, [22,12]
PAUSE 5
'---------------[Variables]-----------------------------
LR            VAR     Word
UD            VAR     Word
btn1wrk       VAR     Byte
btn2wrk       VAR     Byte
 
'---------------[Constants]-----------------------------
BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press
BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press
Btn1          PIN     6
Btn2          PIN     7
Tx            PIN     14 ' XBee DIN
Rx            PIN     15 ' XBee DOUT
stickUD       CON     25
stickLD       CON     25
led           CON     0
led1          CON     1

'-------------------------[Main]---------------------------
 
Main:

HIGH 13
PAUSE 2
RCTIME 13, 1, UD
HIGH 12
PAUSE 2
RCTIME 12, 1, LR
DEBUG HOME, "UD =", DEC UD, CLREOL, CR,
"LR = ", DEC LR, CLREOL
IF UD > stickUD + 2 THEN GOSUB Forward
IF UD < stickUD - 2 THEN GOSUB Backwards
IF UD = stickUD     THEN GOSUB Clear
IF LR > stickLD + 2 THEN GOSUB Right
IF LR < stickLD - 2 THEN GOSUB Left
IF LR = stickLD     THEN GOSUB Clear
IF btn1 =1 THEN
DEBUG CR, "Button 1 pushed"
GOSUB Left_Turn
DEBUG CLS
ENDIF
IF btn2 = 1 THEN
DEBUG CR, "Button 2 pushed"
GOSUB Right_Turn
DEBUG CLS
ENDIF

No_Press:
 GOTO main

GOTO main

'-------------------------[Sub Routine]-----------------------
Forward:
SEROUT 2,84, 20, [17, 128, "Forward"]
PAUSE 200
RETURN
Backwards:
SEROUT 2, 84, 20, [17, 128, "Backwards"]
PAUSE 200
RETURN
Right:
SEROUT 2, 84, 20, [17, 148, "Right"]
PAUSE 200
RETURN
Left:
SEROUT 2, 84, 20, [17,148, "left"]
PAUSE 200
RETURN
Clear:
SEROUT 2, 84, [12,17]
PAUSE 200
RETURN

Left_Turn:
IF  Btn1 = 1 THEN     SEROUT 2, 84, ["Left", 13, "Turn"]
                      SEROUT Tx, 84,[DEC 0,CR]
                      PAUSE 500
IF  Btn1 = 0 THEN     SEROUT 2, 84, [12]
                      PAUSE 5
                      RETURN
 

Right_Turn:
IF btn2 = 1 THEN      SEROUT 2, 84, ["Right", 13, "Turn"]
                      SEROUT Tx, 84, [DEC 1,CR]
                      PAUSE 500
IF btn2 = 0 THEN      SEROUT 2, 84, [12]
                      PAUSE 5
                      RETURN

the code above just controls two leds


The code below is an attemp to control servos in a faster response from the xbees. I am very new to this and dont fully understand all of pbasic and how everything works. so this is all trial and error.
' {$STAMP BS2}
' {$PBASIC 2.5}
' ***************** Configure XBee in AT Command Mode
PAUSE 500
DEBUG CLS,"Configuring XBee..."
PAUSE 3000 ' Guard time
SEROUT Tx,84,["+++"] ' Command Mode Sequence
PAUSE 2000 ' Guard time
SEROUT Tx,84,["ATGT 3,MY 0",CR] ' Set low guard time and Base address
SEROUT TX,84,["ATCN",CR] ' Exit Command Mode
 
 
'----------------[Initialize]---------------------------
PAUSE 5
SEROUT 2, 84, [22,12]

SEROUT 2, 84,50, [22,17, "Hello", 13, "Geno"]
PAUSE 1000
SEROUT 2, 84, [22,12]
PAUSE 5
'---------------[Variables]-----------------------------
LR            VAR     Word
UD            VAR     Word
btn1wrk       VAR     Byte
btn2wrk       VAR     Byte
 
'---------------[Constants]-----------------------------
BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press
BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press
Btn1          PIN     6
Btn2          PIN     7
Tx            PIN     14 ' XBee DIN
Rx            PIN     15 ' XBee DOUT
stickUD       CON     25
stickLD       CON     25
led           CON     0
led1          CON     1

'-------------------------[Main]---------------------------
 
Main:

HIGH 13
PAUSE 2
RCTIME 13, 1, UD
HIGH 12
PAUSE 2
RCTIME 12, 1, LR
DEBUG HOME, "UD =", DEC UD, CLREOL, CR,
"LR = ", DEC LR, CLREOL
IF UD > stickUD + 2 THEN GOSUB Forward
IF UD < stickUD - 2 THEN GOSUB Backwards
IF UD = stickUD     THEN GOSUB Clear
IF LR > stickLD + 2 THEN GOSUB Right
IF LR < stickLD - 2 THEN GOSUB Left
IF LR = stickLD     THEN GOSUB Clear
IF btn1 =1 THEN
DEBUG CR, "Button 1 pushed"
GOSUB Left_Turn
DEBUG CLS
ENDIF
IF btn2 = 1 THEN
DEBUG CR, "Button 2 pushed"
GOSUB Right_Turn
DEBUG CLS
ENDIF

No_Press:
 GOTO main

GOTO main

'-------------------------[Sub Routine]-----------------------
Forward:
SEROUT 2,84, 20, [17, 128, "Forward"]
PAUSE 200
RETURN
Backwards:
SEROUT 2, 84, 20, [17, 128, "Backwards"]
PAUSE 200
RETURN
Right:
SEROUT 2, 84, 20, [17, 148, "Right"]
PAUSE 200
RETURN
Left:
SEROUT 2, 84, 20, [17,148, "left"]
PAUSE 200
RETURN
Clear:
SEROUT 2, 84, [12,17]
PAUSE 200
RETURN

Left_Turn:
IF  Btn1 = 1 THEN     SEROUT 2, 84, ["Left", 13, "Turn"]
                      SEROUT Tx, 84,[DEC 0,CR]
                      PAUSE 500
IF  Btn1 = 0 THEN     SEROUT 2, 84, [12]
                      PAUSE 5
                      RETURN
 

Right_Turn:
IF btn2 = 1 THEN      SEROUT 2, 84, ["Right", 13, "Turn"]
                      SEROUT Tx, 84, [DEC 1,CR]
                      PAUSE 500
IF btn2 = 0 THEN      SEROUT 2, 84, [12]
                      PAUSE 5
                      RETURN


any help is appreciated

Comments

  • Mike GreenMike Green Posts: 23,101
    edited 2012-10-24 15:20
    First you have to learn to program in PBasic and start with simple programs until you are comfortable with how PBasic works. One telling thing is that you're using the BUTTON statement as a kind of declaration. It's actually a specialized form of GOTO and has to be executed in some kind of loop. Add features one at a time and make sure they work before adding the next feature.

    I notice that routines like Left_Turn and Right_Turn use indenting for nesting. That works for Spin and the Propeller, but doesn't exist in PBasic. Look at the examples for the IF statement in the PBasic manual.
  • gennarobasso81gennarobasso81 Posts: 84
    edited 2012-11-20 19:17
    Mike,
    thank you for replying...sorry it has been so long since i have been on to say thank you. Crazy month here had a baby then had hurricane sandy hit us directly. Just getting back to normal life now.

    You are correct in ur observation though, i am new to programing and reading ever bit of info i can while working on a project at the same time.

    so if the button command isnt the right command to use then what should i use?
  • Mike GreenMike Green Posts: 23,101
    edited 2012-11-21 07:20
    The BUTTON statement works fine. You just have to use it properly. There are examples of its use in the Basic Stamp Syntax and Reference Manual and there are lots of examples of the use of pushbuttons in the Manual and in the What's a Microcontroller? tutorial. Both are freely downloadable. Go to the main Parallax webpage and click on the Downloads tab. You'll see buttons for Stamp Documentation and for Educational Tutorials and Translations. Those webpages have links to the manuals' PDF files as well as a host of other information.

    Yeah, new babies and massive hurricanes have a way of distracting people. Glad things are getting back to normal although babies have a way of shifting that mark.
  • Tracy AllenTracy Allen Posts: 6,658
    edited 2012-11-21 08:24
    Congratulations on the baby -- you may well find that he or she is a bigger storm than Sandy! Beware and enjoy!

    BUTTON is useful mostly if you need its auto-repeat capability, where holding down a key causes its action to repeat at some interval. Otherwise it is overkill. Straightforward code needs only a single bit variable to manage the button actions for key-up-transition, key-down-transition, key-held-up and key-held-down. I have a writeup on the inner workings of BUTTON posted at http://emesystems.com/BS2fsm.htm#BUTTON.
  • graffixgraffix Posts: 389
    edited 2012-11-21 21:14
    Have you tried temporarily adding an apostrophe before the debug commands? So the code skips over them and loops faster.
  • gennarobasso81gennarobasso81 Posts: 84
    edited 2012-11-24 19:06
    ok so here are two new codes 
    ' {$STAMP BS2}
' {$PBASIC 2.5}

'----------------[Initialize]---------------------------
PAUSE 5
SEROUT 2, 84, [22,12]
SEROUT 2, 84,50, [22,17, "Hello", 13, "Geno"]
PAUSE 1000
SEROUT 2, 84, [22,12]
PAUSE 5
'---------------[Variables]-----------------------------
LR            VAR     Word
UD            VAR     Word
btn1wrk       VAR     Byte
btn2wrk       VAR     Byte
Led           VAR     Bit
Led1          VAR     Bit
'---------------[Constants]-----------------------------
BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press
BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press
Btn1          PIN     6
Btn2          PIN     7
Tx            PIN     14 ' XBee DIN
Rx            PIN     15 ' XBee DOUT
stickUD       CON     25
stickLD       CON     25

'-------------------------[Main]---------------------------
Main:
HIGH 13
PAUSE 2
RCTIME 13, 1, UD
HIGH 12
PAUSE 2
RCTIME 12, 1, LR
DEBUG HOME, "UD =", DEC UD, CLREOL, CR,
"LR = ", DEC LR, CLREOL
IF UD > stickUD + 2 THEN GOSUB Forward
IF UD < stickUD - 2 THEN GOSUB Backwards
IF UD = stickUD     THEN GOSUB Clear
IF LR > stickLD + 2 THEN GOSUB Right
IF LR < stickLD - 2 THEN GOSUB Left
IF LR = stickLD     THEN GOSUB Clear
IF btn1 =1 THEN
DEBUG CR, "Button 1 pushed"
GOSUB Left_Turn
DEBUG CLS
ENDIF
IF btn2 = 1 THEN
DEBUG CR, "Button 2 pushed"
GOSUB Right_Turn
DEBUG CLS
ENDIF
No_Press:
 GOTO main
GOTO main
'-------------------------[Sub Routine]-----------------------
Forward:
SEROUT 2,84, 20, [17, 128, "Forward"]
PAUSE 200
RETURN
Backwards:
SEROUT 2, 84, 20, [17, 128, "Backwards"]
PAUSE 200
RETURN
Right:
SEROUT 2, 84, 20, [17, 148, "Right"]
PAUSE 200
RETURN
Left:
SEROUT 2, 84, 20, [17,148, "left"]
PAUSE 200
RETURN
Clear:
SEROUT 2, 84, [12,17]
PAUSE 200
RETURN
Left_Turn:
IF  Btn1 = 1 THEN     SEROUT 2, 84, ["Left", 13, "Turn"]
                      SEROUT Tx, 84,[DEC 0,CR]
                      PAUSE 500
IF  Btn1 = 0 THEN     SEROUT 2, 84, [12]
                      PAUSE 5
                      RETURN

Right_Turn:
IF btn2 = 1 THEN      SEROUT 2, 84, ["Right", 13, "Turn"]
                      SEROUT Tx, 84, [DEC 1,CR]
                      PAUSE 500
IF btn2 = 0 THEN      SEROUT 2, 84, [12]
                      PAUSE 5
                      RETURN

    and the receiver
    ' {$STAMP BS2}
' {$PBASIC 2.5}
#SELECT $STAMP
#CASE BS2, BS2E, BS2PE
T9600 CON 84
#CASE BS2SX, BS2P
T9600 CON 240
#CASE BS2PX
T9600 CON 396
#ENDSELECT
' ***************** Variables, Constants and Pins
Baud CON T9600 ' Set Baud rate
Rx PIN 15 ' XBee DOUT
Tx PIN 14 ' XBee DIN
green PIN 0
red   PIN 1
Led   VAR Bit
Led1  VAR Bit
' ***************** Main Loop
DO
SERIN Rx, 84, [DEC Led]
SERIN Rx, 84, [DEC Led1]
IF Led = 0 THEN
HIGH green ' Turn on LED
PAUSE 1000
LOW green ' Turn off LED
ENDIF
IF Led1 = 1 THEN
HIGH red
PAUSE 1000
LOW red
ENDIF
LOOP
  • gennarobasso81gennarobasso81 Posts: 84
    edited 2012-11-24 22:00
    I THINK I GOT IT!!!!!!!

    ok so i can use the 2 axis joy stick to move my bot around now. I just did the joystick for now but since i got it working i will try on the other features...maybe just the ping like graffix is trying. Anyway here is code

    Base code: 
    ' Xbee Servo Base test #1
' {$STAMP BS2}
' {$PBASIC 2.5}
'----------------[Initialize]---------------------------
PAUSE 5
SEROUT 2, 84, [22,12]
SEROUT 2, 84,50, [22,17, "Hello", 13, "Geno"]
PAUSE 1000
SEROUT 2, 84, [22,12]
PAUSE 5
'---------------[Variables]-----------------------------
LR            VAR     Word
UD            VAR     Word
btn1wrk       VAR     Byte
btn2wrk       VAR     Byte
Led           VAR     Bit
Led1          VAR     Bit
'---------------[Constants]-----------------------------
BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press
BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press
Btn1          PIN     6
Btn2          PIN     7
RTS           PIN     10
Tx            PIN     14 ' XBee DIN
Rx            PIN     15 ' XBee DOUT
stickUD       CON     25
stickLD       CON     25
'-------------------------[Main]---------------------------
Main:
DO
HIGH 13
PAUSE 2
RCTIME 13, 1, UD
HIGH 12
PAUSE 2
RCTIME 12, 1, LR
DEBUG HOME, "UD =", DEC UD, CLREOL, CR,
"LR = ", DEC LR, CLREOL
SEROUT tX, 84, [UD]
SEROUT Tx, 84, [LR]
LOOP
No_Press:
GOTO Main

    Remote code: (Note: the Remote xbee is the boe-bot)
    'Xbee Servo Remote test #1

' {$STAMP BS2}
' {$PBASIC 2.5}
#SELECT $STAMP
#CASE BS2, BS2E, BS2PE
T9600 CON 84
#CASE BS2SX, BS2P
T9600 CON 240
#CASE BS2PX
T9600 CON 396
#ENDSELECT

'---------------[Variables]-----------------------------
LR            VAR     Word
UD            VAR     Word
btn1wrk       VAR     Byte
btn2wrk       VAR     Byte
Led           VAR     Bit
Led1          VAR     Bit
'---------------[Constants]-----------------------------
BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press
BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press
Btn1          PIN     6
Btn2          PIN     7
RTS           PIN     10
Tx            PIN     14        ' XBee DIN
Rx            PIN     15        ' XBee DOUT
stickUD       CON     25
stickLD       CON     25
Baud          CON     T9600     'Set Baud Rate
' ***************** Main Loop
Main:
DO
SERIN Rx, 84, [UD, LR]

DEBUG HOME, "UD =", DEC UD, CLREOL, CR,
"LR = ", DEC LR, CLREOL

IF UD > stickUD +2       THEN GOSUB Forward
IF UD < stickUD -2       THEN GOSUB Backwards
IF UD = stickUD +2 OR -2 THEN GOSUB Stay
IF LR > stickLD +2       THEN GOSUB Right
IF LR < stickLD -2       THEN GOSUB Left
IF LR = stickLD +2 OR -2 THEN GOSUB Stay
LOOP
'IF btn1 = 1              THEN GOSUB Left_Turn
'IF btn2 = 1              THEN GOSUB Right_Turn
 
NO_Press:
GOTO Main
'-------------------------[Sub Routine]-----------------------
Forward:
  PULSOUT 13, 850
  PULSOUT 12, 650
  PAUSE 20
  RETURN
Backwards:
  PULSOUT 13, 650
  PULSOUT 12, 850
  PAUSE 20
RETURN
Right:
  PULSOUT 13, 848
  PULSOUT 12, 850
  PAUSE 20
RETURN
Left:
  PULSOUT 13, 650
  PULSOUT 12, 650
  PAUSE 20
RETURN
Stay:
  PULSOUT 13, 750
  PULSOUT 12, 750
  PAUSE 20
RETURN
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