//////Can you''Help me with //////Servo Motor ??
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Posts: 46,084
You might first start with fixing your code ... you have lots of GOSUBs
and not a single RETURN. Another thing you don't need is a 100 ms delay
to discharge a cap for RCTIME. Depending on the cap you're using 1
millisecond will probably do. This is part of the jerkiness issue as
servos want to be updated every 20 milliseconds or so -- you're killing
100 milliseconds everytime you read a sensor.
-- Jon Williams
-- Applications Engineer, Parallax
-- Dallas Office
Original Message
From: crazyidagain [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=JlH88GonO48yDUe5bPiC-U_Outk0e5_OLqdwXphKCkbxRuLrn1S2-IXNlER2nATWF18gY1MHlrOWcGDwEYJ9]crazyidagain@y...[/url
Sent: Friday, April 02, 2004 9:22 AM
To: basicstamps@yahoogroups.com
Subject: [noparse][[/noparse]basicstamps] //////Can you'Help me with //////Servo Motor ??
Hello.
Just a little help,
WHAT DO I DO?????
Everything works the way it should except, the rate of motion, the
VELOSITY,
it is to fast
I think the problem IS in ''Suburoutine' Servo_A:
How do I make it do subroutine smoothely slowly, not so jerky??
thanks dave...
:::[noparse]:D[/noparse]ESCRIPTION:::::
' this program moves a servo motors
' when light is pointed directly at respective photoresistor
' Photo_A and Photo_B.
'{$STAMP BS2}
'{$PBASIC 2.5}
'
'I/O Definitions
'
PhotoA CON 0
PhotoB CON 1
ServoA CON 14
ServoB CON 15
'
'EEPROM MEMEORY
'
RightLeft DATA 800
UpDown DATA 800
StepOne DATA 800
'
'Variables
'
X VAR Word
lightA VAR Word
lightB VAR Word
P VAR Word
counter VAR Word
'
'Program Code
'
Main:
GOSUB Photo_A:
DEBUG "Back in main.", CR
PAUSE 2000
GOSUB Photo_B:
END
'
'Suburoutines
'
Photo_A:
DEBUG "Reading Light from Photo_A Now"
HIGH 0
PAUSE 100
RCTIME 0, 1, lightA
DEBUG HOME, "lightA = ", DEC5 lightA
IF (lightA > = 03000) THEN Servo_A:
PAUSE 2000
GOSUB Photo_B:
Photo_B:
DEBUG "Reading Light from Photo_B Now"
HIGH 1
PAUSE 100
RCTIME 1, 1, lightB
DEBUG HOME, "lightB = ", DEC5 lightB
IF (lightB > 05000) THEN Servo_B:
PAUSE 3000
GOSUB Photo_A:
'''''''''''''''''''''''''''''''
'''''''''''''''''''''''''''''''
Servo_A:
PAUSE 3000
READ RightLeft, x
FOR counter = x TO (x - 1) STEP 1
PULSOUT 14, (x - 1)
PAUSE 20
WRITE RightLeft, (x - 1)
PAUSE 20
DEBUG DEC5 counter, CRSRUP
NEXT
PAUSE 2000
GOSUB Photo_A:
''''''''''''''''''''''''''''''
''''''''''''''''''''''''''''''
Servo_B:
READ UpDown, P
PULSOUT 15, (P + 1)
WRITE UpDown, (P + 1)
PAUSE 1000
GOSUB Photo_A:
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and not a single RETURN. Another thing you don't need is a 100 ms delay
to discharge a cap for RCTIME. Depending on the cap you're using 1
millisecond will probably do. This is part of the jerkiness issue as
servos want to be updated every 20 milliseconds or so -- you're killing
100 milliseconds everytime you read a sensor.
-- Jon Williams
-- Applications Engineer, Parallax
-- Dallas Office
Original Message
From: crazyidagain [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=JlH88GonO48yDUe5bPiC-U_Outk0e5_OLqdwXphKCkbxRuLrn1S2-IXNlER2nATWF18gY1MHlrOWcGDwEYJ9]crazyidagain@y...[/url
Sent: Friday, April 02, 2004 9:22 AM
To: basicstamps@yahoogroups.com
Subject: [noparse][[/noparse]basicstamps] //////Can you'Help me with //////Servo Motor ??
Hello.
Just a little help,
WHAT DO I DO?????
Everything works the way it should except, the rate of motion, the
VELOSITY,
it is to fast
I think the problem IS in ''Suburoutine' Servo_A:
How do I make it do subroutine smoothely slowly, not so jerky??
thanks dave...
:::[noparse]:D[/noparse]ESCRIPTION:::::
' this program moves a servo motors
' when light is pointed directly at respective photoresistor
' Photo_A and Photo_B.
'{$STAMP BS2}
'{$PBASIC 2.5}
'
'I/O Definitions
'
PhotoA CON 0
PhotoB CON 1
ServoA CON 14
ServoB CON 15
'
'EEPROM MEMEORY
'
RightLeft DATA 800
UpDown DATA 800
StepOne DATA 800
'
'Variables
'
X VAR Word
lightA VAR Word
lightB VAR Word
P VAR Word
counter VAR Word
'
'Program Code
'
Main:
GOSUB Photo_A:
DEBUG "Back in main.", CR
PAUSE 2000
GOSUB Photo_B:
END
'
'Suburoutines
'
Photo_A:
DEBUG "Reading Light from Photo_A Now"
HIGH 0
PAUSE 100
RCTIME 0, 1, lightA
DEBUG HOME, "lightA = ", DEC5 lightA
IF (lightA > = 03000) THEN Servo_A:
PAUSE 2000
GOSUB Photo_B:
Photo_B:
DEBUG "Reading Light from Photo_B Now"
HIGH 1
PAUSE 100
RCTIME 1, 1, lightB
DEBUG HOME, "lightB = ", DEC5 lightB
IF (lightB > 05000) THEN Servo_B:
PAUSE 3000
GOSUB Photo_A:
'''''''''''''''''''''''''''''''
'''''''''''''''''''''''''''''''
Servo_A:
PAUSE 3000
READ RightLeft, x
FOR counter = x TO (x - 1) STEP 1
PULSOUT 14, (x - 1)
PAUSE 20
WRITE RightLeft, (x - 1)
PAUSE 20
DEBUG DEC5 counter, CRSRUP
NEXT
PAUSE 2000
GOSUB Photo_A:
''''''''''''''''''''''''''''''
''''''''''''''''''''''''''''''
Servo_B:
READ UpDown, P
PULSOUT 15, (P + 1)
WRITE UpDown, (P + 1)
PAUSE 1000
GOSUB Photo_A:
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