Testing Code Tags
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[
CODE]' {$STAMP BS2}
' {$PBASIC 2.5}UDPin CON 8LRPIn CON 9LR VAR WordUD VAR WordDO HIGH LRPin PAUSE 2 RCTIME LRPin, 1, LR HIGH UDPin PAUSE 2 RCTIME UDPin, 1, UD DEBUG HOME, "UD = ", DEC UD, ", LR = ", DEC LR, CLREOL PAUSE 50 LOOP[/code]
[PHP]' {$STAMP BS2}' {$PBASIC 2.5}UDPin CON 8LRPIn CON 9LR VAR WordUD VAR WordDO HIGH LRPin PAUSE 2 RCTIME LRPin, 1, LR HIGH UDPin PAUSE 2 RCTIME UDPin, 1, UD DEBUG HOME, "UD = ", DEC UD, ", LR = ", DEC LR, CLREOL PAUSE 50 LOOP
[/PHP]
CODE]' {$STAMP BS2}
' {$PBASIC 2.5}UDPin CON 8LRPIn CON 9LR VAR WordUD VAR WordDO HIGH LRPin PAUSE 2 RCTIME LRPin, 1, LR HIGH UDPin PAUSE 2 RCTIME UDPin, 1, UD DEBUG HOME, "UD = ", DEC UD, ", LR = ", DEC LR, CLREOL PAUSE 50 LOOP[/code]
[PHP]' {$STAMP BS2}' {$PBASIC 2.5}UDPin CON 8LRPIn CON 9LR VAR WordUD VAR WordDO HIGH LRPin PAUSE 2 RCTIME LRPin, 1, LR HIGH UDPin PAUSE 2 RCTIME UDPin, 1, UD DEBUG HOME, "UD = ", DEC UD, ", LR = ", DEC LR, CLREOL PAUSE 50 LOOP
[/PHP]
{{ ************************************************
* Hoverfly 9-DOF Experimenter Board *
* Author: Al Ducharme and Dan Burroughs *
* *
************************************************
Revision History:
V1.0 - original program
}}
CON
_CLKMODE = XTAL1 + PLL8X
_XINFREQ = 10_000_000 '10MHz crystal is used
I2C_SCL = 20 'Sensors share the same I2C bus
I2C_SDA = 21
LEDRedPin = 24 'Status LED pins
LEDGreenPin = 25
LEDBluePin = 26
ServoCh0 = 15 'These were tradionally used for Servo Outputs
ServoCh1 = 16
ServoCh2 = 17
ReceiverCh0 = 13 'These were tradionally used for Receiver Inputs
ReceiverCh1 = 12
ReceiverCh2 = 18
OBJ
Debug : "FullDuplexSerialPlus"
Sensors : "SensorDriver"
VAR
PUB main
Debug.start(31, 30, 0, 115200)
waitcnt(clkfreq*2 + cnt) 'wait 2 seconds before starting so you can enable Com on debug terminal
Debug.tx(Debug#CLS)
' Set LED pins
dira[LEDRedPin] := 1
dira[LEDGreenPin] := 1
dira[LEDBluePin] := 1
' Start the Sensor driver
Sensors.StartSensorData(2, I2C_SCL, I2C_SDA, Sensors#ITG_DLPF_10HZ)
repeat
Debug.Str(String(Debug#CLS,Debug#HOME))
Debug.tx(Debug#TAB)
Debug.tx(Debug#TAB)
Debug.Str(String("X"))
Debug.tx(Debug#TAB)
Debug.Str(String("Y"))
Debug.tx(Debug#TAB)
Debug.Str(String("Z"))
Debug.tx(Debug#TAB)
Debug.tx(Debug#CR)
Debug.Str(String(" ---------------------"))
Debug.tx(Debug#CR)
Debug.Str(String("ITG3200 Gyro: ",Debug#TAB))
Debug.dec(Sensors.GetGyroX)
Debug.tx(Debug#TAB)
Debug.dec(Sensors.GetGyroY)
Debug.tx(Debug#TAB)
Debug.dec(Sensors.GetGyroZ)
Debug.tx(Debug#CR)
Debug.Str(String("ADXL345 Accel: ",Debug#TAB))
Debug.dec(Sensors.GetAccX)
Debug.tx(Debug#TAB)
Debug.dec(Sensors.GetAccY)
Debug.tx(Debug#TAB)
Debug.dec(Sensors.GetAccZ)
Debug.tx(Debug#CR)
Debug.Str(String("HMC5883L Mag: ",Debug#TAB))
Debug.dec(Sensors.GetMagX)
Debug.tx(Debug#TAB)
Debug.dec(Sensors.GetMagY)
Debug.tx(Debug#TAB)
Debug.dec(Sensors.GetMagZ)
Debug.tx(Debug#CR)
GyroLED
waitcnt(clkfreq/20 + cnt) '10Hz screen refresh
PUB GyroLED | x,y,z
' This is just for fun to make some colors with gyro movement
' move the board around...its pretty groooovy
' LEDs should be off when not moving the board
x := Sensors.GetGyroX
y := Sensors.GetGyroY
z := Sensors.GetGyroZ
if x >= 500
outa[LEDRedPin] := 1
else
outa[LEDRedPin] := 0
if y <= 500
outa[LEDGreenPin] := 1
else
outa[LEDGreenPin] := 0
if z <= 500
outa[LEDBluePin] := 1
else
outa[LEDBluePin] := 0
PUB DelayMS(dur)
waitcnt(clkfreq/1_000*dur + cnt) 'Approximate delay
PUB DelayUS(dur)
waitcnt(clkfreq/1_000_000*dur + cnt) 'Approximate delay
' {$STAMP BS2}' {$PBASIC 2.5}
UDPin CON 8
LRPIn CON 9
LR VAR Word
UD VAR Word
DO
HIGH LRPin
PAUSE 2
RCTIME LRPin, 1, LR
HIGH UDPin
PAUSE 2
RCTIME UDPin, 1, UD
DEBUG HOME, "UD = ", DEC UD, ", LR = ", DEC LR, CLREOL
PAUSE 50
LOOP