to Al Williams
Thanks Al for sending confirmation on the assumption for the pin outs of the resonator used with the Pak 8. Sorry I haven't wrote back but my system crashed and I lost quite a lot of stuff, also lost your email address hence the reason I'm posting you mail this way. Hers the programme you said you'd check out for me.
' servo BoE - Bot demo for PAK - VIII
datap con 0··· ··· 'data pin I/O on BSII pin 0
datapin var in0
clk con 1··· ··· ··· ' clk pin on BSII is pin 1
' register names
DURLOW con %000
DURHIGH con %001
HIGHDUR con %010
LOWDUR con %011
PSCALE con %100
PSBASE con %101
N con %110
CTRL con %111
center 6 con 150··· ··· ' left servo on pin 6 of the PAK VIII
center 7 con 152··· ··· 'right servo on pin 7 of the PAK VIII
output clk
output datap
fpx var word···· ··· ··· ' Integer used by some routines
fpb var byte···············' byte
'··· parameters for FCommand
chan var nib
register var nib
debug "reset",cr
gosub freset··· 'always reset!
gosub FTotalReset··· ··· ' hard reset
top:
' disable channel 6 and 7
chan=6
register=6
fpx=1
gosub FCommand
chan=7
gosub FCcommand
gosub ServoCenter
' turn on and enable 6 and 7
for chan=6 to 7
fpb=3
gosub FJam
next
' set both servos to 2mS (200)
' Since servos are "back to back"
' the robot will rotate
chan=6
register=1
fpx=200
gosub FCommand
chan=7
gosub FCommand
pause 10000··· 'rotate for 10 seconds
chan=7
register=1
fpx=100··· ··· ··· 'go in one direction ( reverse servo #1)
gosub FCommand
pause 10000
gosub ServoCenter
stopp:
goto stopp
end
'Center both servos
ServoCenter:
chan=6
register=1
fpx=center6··· ··· '150 x 10 = 1.5ms
gosub FCommand
chan=7
fpx=center7
gosub FCommand
register=2
fpx=2000··· '2000 x 10 = 20mS
gosub FCommand
chan=6
goto FCommand··· ··· ' let FCommand return
' Rest the Pak8 I/O
FReset:
LOW DATAP
LOW CLK
HIGH CLK
HIGH DATAP
LOW CLK
return
' 0 is 0, 1 is 1, 2 is hi-z, 3 iss normal
' note: 3 enables channel to run
FJam:
fpb=chan + (fpb<<3)+%01000000
goto FSendByte
FCommand:
' inputs chan =· channel, register = register
fpb=(register<<3) + chan
gosub FSendByte
fpb=fpxx.lowbyte
gosub FSendByte
fpb=fpx.highByte
goto FSendByte
FReadReg:
fpb=(register<<3) + chan + %10000000
gosub FSendByte
'fall into FReadWord
FReadWord:
Shiftin datap,clk,MSBPRE, [noparse][[/noparse]fpx.lowbyte,fpx.highbyte]
return
FTotalReset:
fpb=$FF
FSendByte:
Shiftout datap,clk,MSBFIRST,[noparse][[/noparse]fpb]
return
FReadByte:
shiftin datap,clk,MSBPRE,[noparse][[/noparse]fpb]
return
FPrescale:
' set fpb to the prescale constant
fpb = fpb + $C0
goto FSend Byte
Sorry for the long email, I have the feeling that I was surposed to change some other lines to suit my set-up, I've looked over and over the programme but can't see were. Hope you can help.
Many thanks
John
' servo BoE - Bot demo for PAK - VIII
datap con 0··· ··· 'data pin I/O on BSII pin 0
datapin var in0
clk con 1··· ··· ··· ' clk pin on BSII is pin 1
' register names
DURLOW con %000
DURHIGH con %001
HIGHDUR con %010
LOWDUR con %011
PSCALE con %100
PSBASE con %101
N con %110
CTRL con %111
center 6 con 150··· ··· ' left servo on pin 6 of the PAK VIII
center 7 con 152··· ··· 'right servo on pin 7 of the PAK VIII
output clk
output datap
fpx var word···· ··· ··· ' Integer used by some routines
fpb var byte···············' byte
'··· parameters for FCommand
chan var nib
register var nib
debug "reset",cr
gosub freset··· 'always reset!
gosub FTotalReset··· ··· ' hard reset
top:
' disable channel 6 and 7
chan=6
register=6
fpx=1
gosub FCommand
chan=7
gosub FCcommand
gosub ServoCenter
' turn on and enable 6 and 7
for chan=6 to 7
fpb=3
gosub FJam
next
' set both servos to 2mS (200)
' Since servos are "back to back"
' the robot will rotate
chan=6
register=1
fpx=200
gosub FCommand
chan=7
gosub FCommand
pause 10000··· 'rotate for 10 seconds
chan=7
register=1
fpx=100··· ··· ··· 'go in one direction ( reverse servo #1)
gosub FCommand
pause 10000
gosub ServoCenter
stopp:
goto stopp
end
'Center both servos
ServoCenter:
chan=6
register=1
fpx=center6··· ··· '150 x 10 = 1.5ms
gosub FCommand
chan=7
fpx=center7
gosub FCommand
register=2
fpx=2000··· '2000 x 10 = 20mS
gosub FCommand
chan=6
goto FCommand··· ··· ' let FCommand return
' Rest the Pak8 I/O
FReset:
LOW DATAP
LOW CLK
HIGH CLK
HIGH DATAP
LOW CLK
return
' 0 is 0, 1 is 1, 2 is hi-z, 3 iss normal
' note: 3 enables channel to run
FJam:
fpb=chan + (fpb<<3)+%01000000
goto FSendByte
FCommand:
' inputs chan =· channel, register = register
fpb=(register<<3) + chan
gosub FSendByte
fpb=fpxx.lowbyte
gosub FSendByte
fpb=fpx.highByte
goto FSendByte
FReadReg:
fpb=(register<<3) + chan + %10000000
gosub FSendByte
'fall into FReadWord
FReadWord:
Shiftin datap,clk,MSBPRE, [noparse][[/noparse]fpx.lowbyte,fpx.highbyte]
return
FTotalReset:
fpb=$FF
FSendByte:
Shiftout datap,clk,MSBFIRST,[noparse][[/noparse]fpb]
return
FReadByte:
shiftin datap,clk,MSBPRE,[noparse][[/noparse]fpb]
return
FPrescale:
' set fpb to the prescale constant
fpb = fpb + $C0
goto FSend Byte
Sorry for the long email, I have the feeling that I was surposed to change some other lines to suit my set-up, I've looked over and over the programme but can't see were. Hope you can help.
Many thanks
John