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S2 code? if s2.get_adc_results(s2#ADC_IMOT) > 210 — Parallax Forums

S2 code? if s2.get_adc_results(s2#ADC_IMOT) > 210

birv2birv2 Posts: 10
edited 2015-03-06 07:56 in Robotics
Hi all,

We've got an S2 that is blinking red for all three LED's and we're trying to figure out the above code we can know what's wrong.

Can anyone tell us what ADC_IMOT measures and what we should do next? This is happening on a S2 that we've had less than a year.

Thanks!
Bob Irving
Porter-Gaud School
Charleston, SC

Comments

  • birv2birv2 Posts: 10
    Bumping..... so funny that I'm searching for an answer and found my post from last March.

    Anybody?

    Bob Irving
    Porter-Gaud School
    Charleston, SC
  • PublisonPublison Posts: 12,366
    Hi Bob,

    Could you include the full code? There might be a bug somewhere else.
  • birv2birv2 Posts: 10
    CON
    _clkmode = xtal1 + pll16x
    _xinfreq = 5_000_000
    '_CLKFREQ = 5_000_000
    LINE_THLD = 50
    OBSTACLE_CHECK = TRUE
    SPKR_VOL = 35
    BAR_THLD = 32

    VAR

    long LeftMotor, RightMotor, MoveTime, pLeftMotor, pRightMotor, pMoveTime, FMStack[50]
    word WheelSpace, FullCircle
    byte Self , LineThld , ResetCount, LineCount , LeftLine, RightLine, Line_Reader

    OBJ

    s2 : "S2"

    '---[Start of Program]

    PUB Main
    \setUpRobot

    \moveTheRobot


    ' this is the end of the main code

    PRI moveTheRobot

    MoveWheels(128, 128, 3000)
    s2.delay_tenths(10) ' this pauses 1/10 of a second
    MoveWheels(-100, -255, 5000)
    s2.delay_tenths(30)
    MoveWheels(0, 0, 100)


    ' Students try to make a square

    PRI exploreRobots




    PRI playMusicaAndMakeSound

    'PlayNote(duration, freq1, freq2) both can go up to 255

    PlayNote(187, 391, 0)
    PlayNote(187, 523, 0)
    PlayNote(187, 659, 0)
    PlayNote(187, 783, 0)
    PlayNote(187, 0, 0)
    PlayNote(187, 659, 0)
    PlayNote(1125, 783, 0)
    PlayNote(152, 783, 0)
    PlayNote(35, 0, 0)
    PlayNote(187, 783, 0)
    PlayNote(187, 659, 0)
    PlayNote(187, 880, 0)
    PlayNote(375, 783, 0)
    PlayNote(375, 659, 0)


    PRI objectDetection
    s2.set_leds(S2#RED,S2#OFF,S2#OFF,S2#OFF)
    repeat
    if (s2.obstacle(s2#LEFT, 0) == true )
    s2.set_leds(S2#RED,S2#OFF,S2#OFF,S2#OFF)


    PRI LEDlights ' YELLOW, GREEN, BLUE, ORANGE, RED, ALT_RED_GREEN, BLINK_RED, BLINK_BLUE

    s2.set_led(s2#LEFT, s2#ORANGE) 'Set left light LED to ORANGE.
    s2.delay_tenths(30)
    s2.set_led(s2#CENTER, s2#GREEN) 'Set center LED to ORANGE.
    s2.delay_tenths(30)
    s2.set_led(s2#RIGHT, s2#ALT_RED_GREEN) 'Set RIGHT light LED to BLINK RED & GREEN.
    s2.delay_tenths(30)
    s2.set_led(s2#LEFT, s2#BLINK_RED)
    s2.delay_tenths(30)
    s2.set_led(s2#LEFT, s2#BLINK_GREEN)

    'OR all at once

    s2.set_leds(S2#GREEN,S2#YELLOW,S2#GREEN,S2#BLUE) 'set left=green, center=yellow, right=green, and power=blue
    s2.delay_tenths(30)

    s2.set_leds(S2#GREEN,S2#NO_CHANGE,S2#GREEN,S2#OFF) 'set left=green, center=yellow, right=green, and power=blue

    'OR Crazy people only

    's2.set_leds(s2#BLINK_RED,s2#BLINK_RED,s2#BLINK_RED,s2#OFF)



    PRI lightDetection
    s2.set_led(s2#POWER, s2#BLINK_BLUE)
    repeat
    if (s2.light_sensor_raw(s2#CENTER) > 230)
    s2.set_led(s2#LEFT, s2#BLINK_RED) 'Set center LED to RED.
    if (s2.light_sensor_raw(s2#CENTER) > 150 )
    s2.set_led(s2#CENTER, s2#RED) 'Set center LED to RED.
    if ( s2.light_sensor_raw(s2#CENTER) < 50)
    s2.set_led(s2#RIGHT, s2#RED) 'Set center LED to OFF .






































    PRI MoveWheels(lmotor, rmotor, timer)

    MoveTime := timer #> 0
    LeftMotor := lmotor #> -256 <# 256
    RightMotor := rmotor #> -256 <# 256
    if (LeftMotor <> pLeftMotor or RightMotor <> pRightMotor or MoveTime <> pMoveTime or pMoveTime <> 0)
    if (MoveTime)
    s2.move_now(LeftMotor * MoveTime * FullCircle / 1_024_000, RightMotor * MoveTime * FullCircle / 1_024_000, MoveTime << 1, (||LeftMotor #> ||RightMotor <# 255) >> 4, 0)
    s2.wait_stop
    else
    s2.wheels_now(LeftMotor, RightMotor, 0)
    waitcnt(cnt + clkfreq / 10)
    pLeftMotor := LeftMotor
    pRightMotor := RightMotor
    pMoveTime := MoveTime

    PRI PlayNote(duration, freq1, freq2)

    s2.play_tone(duration - 1 #> 1, freq1, freq2)
    s2.play_tone(1, 0, 0)

    PRI batteryCheck
    Self := cogid
    cognew(FaultMonitor, @FMStack)


    PRI FaultMonitor : value

    value := $ffff
    waitcnt(cnt + 80_000_000)
    repeat
    value <#= s2.get_adc_results(s2#ADC_VBAT)
    if value > constant((700*2550)/(400*33)) '7.0V
    s2.set_led(s2#POWER,s2#BLUE)
    elseif value > constant((600*2550)/(400*33)) '6.0V
    s2.set_led(s2#POWER,$20)
    else
    s2.set_led(s2#POWER,s2#BLINK_BLUE)
    if s2.get_adc_results(s2#ADC_IMOT) > 210
    cogstop(Self)
    s2.stop_now
    s2.set_leds(s2#BLINK_RED,s2#BLINK_RED,s2#BLINK_RED,s2#OFF)
    repeat



    PRI ReadBars | w0, w1, barcount, midwidth, t

    LineCount := 0
    if (s2.line_sensor(s2#LEFT, BAR_THLD) or s2.line_sensor(s2#RIGHT, BAR_THLD))
    return
    t := cnt
    repeat until s2.line_sensor(s2#RIGHT, BAR_THLD)
    if (cnt - t > 80_000_000)
    return
    ifnot (w1 := ReadBarWidth)
    return
    ifnot (w0 := ReadBarWidth)
    return
    midwidth := (w0 + w1) >> 1
    repeat barcount from 1 to 5
    if (barcount =< 4)
    LineCount <<= 1
    if (w0 > midwidth)
    Linecount |= 1
    ifnot (w0 := ReadBarWidth)
    LineCount := 0
    return
    if (LineCount & %1000)
    LineCount := (Linecount >< 3) | %1000




    '---[Read the Width of One Dark Bar Code Bar]


    PRI ReadBarWidth | t

    t := cnt
    repeat while s2.line_sensor(s2#RIGHT, BAR_THLD)
    if ((cnt - t) > 80_000_000)
    return 0
    t := cnt
    repeat until s2.line_sensor(s2#RIGHT, BAR_THLD)
    if ((cnt - t) > 80_000_000)
    return 0
    return cnt - t


    PRI CheckLine | left, right

    left := 1 + s2.line_sensor(s2#LEFT, LineThld)
    right := 1 + s2.line_sensor(s2#RIGHT, LineThld)
    if (left == LeftLine and right == RightLine)
    LineCount := (LineCount + 1) <# 8
    else
    LineCount := 1
    LeftLine := left
    RightLine := right


    PRI setUpRobot
    s2.start
    s2.start_motors
    s2.start_tones
    s2.set_volume(SPKR_VOL)
    s2.set_voices(s2#SAW, s2#SAW)
    long[@WheelSpace] := s2.get_wheel_calibration
    S2.set_led(s2#POWER, s2#BLUE)
    if (s2.get_line_threshold <> s2#DEFAULT_LINE_THLD)
    LineThld := s2.get_line_threshold
    else
    LineThld := LINE_THLD
    Self := cogid
    cognew(FaultMonitor, @FMStack)

    '---[Main Program: Green]
  • birv2birv2 Posts: 10
    That's the whole enchilada..... Seems to be the FaultMonitor procedure.... and it's saying that ADC_IMOT > 210.....

    I have no idea what that does... is it detecting a fault in the motors?
  • dgatelydgately Posts: 1,631
    Searching occurrences of 'IMOT' in the S2.spin object points to:
    
these constants:

  ADC_IMOT = 14

  _MUX_IMOT  =  0          'Motor current.

  _IMOT           = _MUX_IMOT << 12 | ADC_IMOT << 8

    Seems to point to a motor current fault of some kind... 210 must be the maximum allowed current value that Parallax estimated would keep the S2 healthy.


    dgately
  • birv2birv2 Posts: 10
    Thanks for the replies!

    Does that mean that there is something irreparably wrong with the motor? We're just wondering if we need to replace these, but not knowing exactly what it's measuring and what that means makes it difficult to do that.

    Bob Irving
  • PublisonPublison Posts: 12,366
    birv2 wrote: »
    That's the whole enchilada..... Seems to be the FaultMonitor procedure.... and it's saying that ADC_IMOT > 210.....

    I have no idea what that does... is it detecting a fault in the motors?

    Looks like you are into the Spin code. It's better to use the Spin Tool "File>Archive" to upload the program as an attachment. The indentation gets lost in the forum software.

    If I can get an archive I will test the code.


  • ercoerco Posts: 20,257
    @Bob: Porter-Gaud, eh? I'm Fort Johnson class of '78, born downtown in Roper hospital. Small world! I live on the other coast now.

    You're in excellent hands with Jim (Publison).
  • birv2birv2 Posts: 10
    Jim,

    I've attached the archived file. Thanks!
    Bob
    zip
    zip
    learnRobotCode - Archive [Date 2015.10.13 Time 11.28].zip
    60K
  • PublisonPublison Posts: 12,366
    I have run your code on my S2, and it runs fine, (moves forward, backwards turn, then stops.

    What to check always first, new fully charged batteries.

    Second, debris hanging up in the wheel/servo area causing binding.

    I would run the Calibration program from the S2 GUI, if that doesn't work, restore the Factory program from the GUI and test all the demo modes.

    Standing by.


  • birv2birv2 Posts: 10
    We replaced all the batteries 2 days ago, so I don't think it's that....

    I've never taken one of these apart, so I'll try that next.

    Then calibration and factory reset....
  • birv2birv2 Posts: 10
    PS -- thanks for the help!

    Also, how do you implement the calibration program? It says it hasn't been implemented?
  • PublisonPublison Posts: 12,366
    edited 2015-10-13 22:27
    birv2 wrote: »
    PS -- thanks for the help!

    Also, how do you implement the calibration program? It says it hasn't been implemented?

    Sorry. Parallax never did the calibration program for the S2. I was thinking of the ActivityBot.

    Do a Factory Reset and test all the demos to see if those run correctly.
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