Help with counting inputs

Kenny D · 2006-06-02 04:04

Hi everyone,

I have just started playing around with Boe Bot. It's great fun.

Can someone help me with this?·

I am trying to get Boe Bot to follow a course using a microswitch tied to input 7.· The microswitch feels for these
poles I have set up.·I want to be able to set a constant and have the Bot move forward until input 7· counts up to the constant
and then stop.·
·I would then like it to reset the counter and move backwards until it counts to another constant.

·I have tried many different things·that resemble··

IF (IN7 = 0) THEN
··· counter = counter + 1
····· IF (counter =7) THEN
·GOSUB forward

······ I know I am far off..so please help

Thanks in advance.
·

Kenny

Franklin · 2006-06-02 15:50

IF (IN7 = 0) THEN
counter = counter + 1
IF (counter < 7) THEN
GOSUB forward

this should work. (notice the less than)

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- Stephen

Tracy Allen · 2006-06-02 17:52

The problem with that routine is that in7 probably stays low for a relatively long time, long enough for the counter loop to execute many times. Whereas what you want is one count for each time it hits a switch. Debounce the switch with an RC circuit.

newin7 VAR bit
oldein7 VAR bit
oldin7 = in7

DO
newin7 = in7
counter = counter + (newin7 ^ oldin7 & newin7)   ' increment on 0-->1 transition
oldin7=newin7
DEBUG ? counter
LOOP

Note that ^ is the Stampese XOR and & is Stampese AND, bitwise, so the thing in () is 1 only when in7 makes the transition from 0 to 1, and that gets added directly to the counter.

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Tracy Allen
www.emesystems.com

Kenny D · 2006-06-04 06:37

That works great Tracy thanks.
I am trying to get a generic working program so I can modify it as needed later.
Right now I am just messing with one wheel until I have it down. I am having a problem with the second movement.
The wheel will not pulse like the first time.
Forward1 works fine. When it gets to back1 the wheel moves slow and jerky ant not at the speed I told it to.
I have tried several speeds with no change.
Any suggestions??

thanks

[noparse][[/noparse]Variables]

newin7 VAR Bit
oldin7 VAR Bit
oldin7 = IN7
counter VAR Byte

'

[noparse][[/noparse] Main Routine ]

DO

newin7 = IN7
counter = counter + (newin7 ^ oldin7 & newin7) ' increment on 0-->1 transition
oldin7=newin7
DEBUG ? counter

IF (counter > 7) THEN
GOSUB forward1
PAUSE 10

IF (counter > 9) THEN
GOSUB back1
PAUSE 10
ENDIF
ENDIF

LOOP
forward1:
PULSOUT 13, 850
RETURN

back1:
PULSOUT 13, 650
RETURN

SSteve · 2006-06-04 08:49

Your IF/THEN logic isn't right:

IF (counter > 7) THEN
GOSUB forward1
PAUSE 10

IF (counter > 9) THEN
GOSUB back1
PAUSE 10
ENDIF
ENDIF

Once counter is greater than 9, you're calling both the forward1 and back1 subroutines. I'm not sure exactly what you're trying to do, but this code:

IF (counter > 9) THEN
  GOSUB back1
  PAUSE 10
ELSEIF (counter > 7) THEN
  GOSUB forward1
  PAUSE 10
ENDIF

will do nothing until counter is greater than 7. It will call forward1 when counter is 8 & 9. Once counter is greater than 9, it will call back1.

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OS-X: because making Unix user-friendly was easier than debugging Windows

Tracy Allen · 2006-06-04 18:20

Kenny, you probably also need a "mode" variable in the mix. That is a bit that is 1 when the bot is supposed to go forward and 0 when backward.

Then,

IF mode=1 AND counter >7 THEN mode=0 : counter=0
IF mode=0 AND counter >9 THEN mode=1 : counter=0
BRANCH mode, [noparse][[/noparse]backward, forward]

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Tracy Allen
www.emesystems.com

Kenny D · 2006-06-07 00:25

Thanks guys for your help.
The following code does what I need it to do.··I although I couldn't· get the MODE variable to work.
·My programming knowledge is still a beginner.

I would like to get an output to work when the pogram hits each goal.· However,
··the program has the·output·as part of the loop, so the output doesn't work·correctly.
Any suggestions as how to make the output work outside the loop?

Thank you sooo much for your help...

Kenny

 Speaker PIN 4
'------[noparse][[/noparse]Variables]---------------------------------------------------------
newin7 VAR Bit
oldin7 VAR Bit
oldin7 = IN7
counter VAR Byte
temp VAR Byte
' -----[noparse][[/noparse] Main Routine ]----------------------------------------------------
start:
   newin7 = IN7
   counter = counter + (newin7 ^ oldin7 & newin7)   ' increment on 0-->1 transition
   oldin7=newin7
   DEBUG ? counter
 IF (counter <= 7) THEN
   GOSUB forward
ELSEIF (counter >= 8) AND (counter<=10) THEN
     GOSUB back
ELSEIF (counter >= 11) AND (counter <=15) THEN
     GOSUB forward
ELSEIF (counter >= 16 )AND (counter <=33) THEN
     GOSUB back
ELSEIF (counter >= 16 )AND (counter <=33) THEN
     GOSUB forward
      ENDIF
  GOTO testoutput
 
testoutput:
        IF (counter = 8)THEN
      FREQOUT Speaker, 10 ,5050
      HIGH 10
      PAUSE 10
      LOW 10
      PAUSE 10
      HIGH 10
      PAUSE 10
      HIGH 10
         ENDIF
    GOTO start
'-----------------------------Routines
        forward:
           DEBUG "forward "
           PULSOUT 13, 850
           PAUSE 20
           RETURN
        back:
            DEBUG "back "
            PULSOUT 13, 650
            PAUSE 20
            RETURN

Bruce Bates · 2006-06-07 04:25

Kenny -

Please go back and re-read the message you posted, as it doesn't make a whole lot of sense, in a number of places. Here's what I mean:

First you say "... I couldn't get the MODE variable to work." yet there is NO "MODE" variable in the program. What's the story with that?

You also say "The following code does what I need it to do." but later on say "... the output doesn't work correctly." Does it work, or doesn't it work, and if it doesn't work, what is the program doing differently from what you want it to do?

Then, in the program, the following code seems rather odd:

ELSEIF (counter >= 16 ) AND (counter <=33) THEN
GOSUB back
ELSEIF (counter >= 16 ) AND (counter <=33) THEN
GOSUB forward

Last, just as a suggestion, you may find that using SELECT ... CASE is a bit easier to use and understand than all of those IF ... THEN statements. SELECT ... CASE works very well for range values.

Regards,

Bruce Bates

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Help with counting inputs

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