Problems with the usage of more cogs with coginit

nomad

REF: Problems with the usage of more cogs with coginit

hi,
as attachment:
1 - leg1ServoSequencer11.spin
2 - leg1ServoSequencer110.spin
3 - leg1ServoSequencer111.spin

the 1. programm is the original-spin-program (historic-reasons)
(control of 6 servos with 6-pushButtons.)
timing: periode1 := ((clkfreq / 100_000) * 500) ' 5ms LEG 1
Running: all OK.

the 2. program: control of a Servos with methode: ShoulderServo1(3) ' pin 0 , pin 3
timing corect: 20ms = periode1 := ((clkfreq / 100_000) * 2000) ' 20ms LEG 1
Run: OK

the leg1ServoSequencer111.spin is my trial to every of the 6 servos is a cog
(cog2 to cog 7) with the help von COGINIT (as per PE-LAB -> methods & cogs)
to control the cogs (servos) i make this with the pushButtons
if ina[noparse][[/noparse]n] == 1
COGINIT(cog2_Leg1Servo1,ShoulderServo1(0), @cogstack[noparse][[/noparse]0])
the direction of the servos is controlled through pushButtons 14,15
the cog 0 should be the master cog not implemented, cog 1 is for the
communications not implemented

but now the problem:
the program don't run, nothing....
what's going wrong??
- is my usage of the cogStack correct???
- is my usage of the COGINIT correct ???
if ina[noparse][[/noparse]8] == 1
COGINIT(cog2_Leg1Servo1,ShoulderServo1(0), @cogstack[noparse][[/noparse]0]) ' pin 0

this is my first trial to usage more cogs, i dont no which mistakes i make.???
please help me (all hints and tip are helpful).
and excuse my bad english

regards
nomad

Mike Green

I see several problems:
1) In the Init routine, you initialize the direction and output status of several I/O pins, then use these I/O pins in other cogs.
Each cog has its own OUTA and DIRA registers and they are effectively OR'd together. Your Init cog sets its own registers
for output mode, but the servo control cogs do not ... They're inputs for those cogs. You need to setup the OUTA/DIRA
registers as part of the initialization of the routines started by each COGINIT.

2) In the repeat loop in the main program ... where the COGINITs are done, you don't check to make sure that the cog is idle
before doing a COGINIT. As long as pin 8 is high, you will relaunch ShoulderServo1(0) in cog 2. That's not what I think you want.
If you're looking at a pushbutton press to start up a servo, at least look for the leading edge of the signal ... save the previous state
of the pin and look for previous state == 0 and current state == 1. That way, you will require a button release, then another press
to reinitiate the cog.

nomad

hi mike,
thanks for your help, today (sunday) i make trial with your stuff, and then
i make a call
regards
nomad

nomad

hi mike,
on the afternoon i make some tests:
the new program: leg1ServoSequencer112.spin

your no 1)
i hope i understand you right
i make the whole stuff from the init-methode into the different cogMethods
is this right direction?
must i use the boolean vars???
if i use this nothing goes.

my questions and my problems with your No. 2)

my pushButtons are microSchalter:
if press then the button is ON
else OFF (its a spike) look at spin-program version 11

in this program i can move different servos in the same time.

and then comes the problems:
i am not a electronicMan, only a softwareGuy (systemAnalytics)
i understand you not fully,
what you mean with:

<< look for the leading edge of the signal ... save the previous state
of the pin and look for previous state == 0 and current state == 1.
That way, you will require a button release, then another press
to reinitiate the cog.
>>
can i do this with boolean variables??? or what.
think on this:
i can press every buttons on the same time, and different cogs (servos) moving in
different directions...

for a future version the cogs will be controlled through variables and the
masterCog (0)
and the different cogs talks with the other cogs
it should possible that z.B.
cog2 (Servo11) swing forward and in the same time a another cog -> cog7 goes
down and cog3 goes up.

in the moment i dont use the 2erpushButton without the boolean vars
instead every servoCog
makes: repeat 10
pulsetime1 += (clkfreq / 100_000)
Result: running but not correct.

please excuse my confuse writing, but i have some problems
if i must explain complex things in english.
please help me

as attachment: leg1ServoSequencer112.spin



regards
nomad

Mike Green

I think your program is unnecessarily complicated. Correct me if I'm wrong, but I believe it does:

1) There are 8 pushbuttons, divided up into a group of 6 and a group of 2

2) When you push one of the 6 pushbuttons, you select one of 6 servos to interact with. A control pulse is
sent to that servo every 20ms with a width initially of 1.5ms. Selecting a different servo stops the previous one.

3) Once one of the 6 pushbuttons has been pushed, the 2 pushbuttons either increase or decrease the width
of a pulse sent to the selected servo by 0.1ms.

I know you want to use this program as a basis for a more complex program, but I think the overall concept is faulty.
You should use the Servo32.spin object to control the servos and issue the timed pulses every 20ms. That object
runs in one cog and interacts with the rest of the program through some common Spin routines and a shared table of
pulse widths. For your current testing, you should use a single cog, particularly since you're only working with one servo
at a time.

The Attachment Manager doesn't seem to work for me (it gets an error), so here's my example:

CON 
  _CLKMODE = XTAL1 + PLL16X     'Set to ext crystal, 16x PLL, 80MHz Clock 
  _XINFREQ = 5_000_000          'Frequency on XIN pin is 5 MHz 
  
OBJ
  Servo : "Servo32"

VAR
  LONG currentWidth[noparse][[/noparse]6]
  LONG oldButtons, newButtons, currentServo
  LONG oldDirection, newDirection
    
PUB MainProgram | i

  repeat i from 0 to 5             ' Initialize all the servos
    currentWidth[noparse][[/noparse] i ] := 1500        '  to mid-position (1.5ms)
    Servo.Set(i,currentWidth[noparse][[/noparse] i ])
  Servo.Start

  dira[noparse][[/noparse]8]~    ' Pin08 set input (taster s1) control cogServo11 Swing 
  dira[noparse][[/noparse]9]~    ' Pin09 set input (taster s2) control cogServo21 
  dira[noparse][[/noparse]10]~   ' Pin10 set input (taster s3) control cogServo12 Up/Down  
  dira[noparse][[/noparse]11]~   ' Pin11 set input (taster s4) control cogServo22
  dira[noparse][[/noparse]12]~   ' Pin12 set input (taster s5) control cogServo13 Up/Down 
  dira[noparse][[/noparse]13]~   ' Pin13 set input (taster s6) control cogServo23

  dira[noparse][[/noparse]14]~   ' plus 
  dira[noparse][[/noparse]15]~   ' neg
  
  oldButtons := %000000
  oldDirection := %00
  currentServo := -1
  
  repeat
  
' Get state of all selection buttons.  Compute which buttons were
' previously in a zero state and now in a one state.  Use the >| operator
' to find the most significant button bit if more than one was pressed.
' If no buttons were pressed, ignore.  If one was pressed, save the number
' of the servo associated with it (do a translation - see the lookdownz).

    newButtons := ina[noparse][[/noparse]13..8]
    if (i := lookdownz(>|(!oldButtons & newButtons):-1,0,3,1,4,2,5)) => 0
      currentServo := i
    oldButtons := newButtons
    
' Now do the same for the direction buttons.  Note that the pulse width
' can go beyond the range of 1.0ms-2.0ms.  The Servo32 driver limits the
' actual range of the pulse width to 1.0ms-2.0ms.  If no servo has been
' selected yet, ignore the direction button push.

    newDirection := ina[noparse][[/noparse]15..14]
    case >|(!oldDirection & newDirection)
      1: if currentServo => 0       ' Plus - pin 14
           currentWidth[noparse][[/noparse]currentServo] += 100  ' Increment by 0.1ms
           Servo.Set(currentServo,currentWidth[noparse][[/noparse]currentServo])
      2: if currentServo => 0       ' Minus - pin 15
           currentWidth[noparse][[/noparse]currentServo] -= 100  ' Decrement by 0.1ms
           Servo.Set(currentServo,currentWidth[noparse][[/noparse]currentServo])
    oldDirection := newDirection
    waitcnt(clkfreq / 20_000 + cnt)  ' Wait 50ms for debouncing

nomad

hi mike,
thanks for your help...
on monday i testing your program.

look i have build bot with 4-servoLegs with 3servos in a leg.
to control the whole stuff
1- i have 3 propChips (1 is the master, 2 control leg1 + leg2, 3 control Leg3 + 4)
2- i build in software a WalkNets
(they are neuralNets which can control the gaits and the states of every leg, angles etc.).
3- on every chips are 2 walknets
(please google -> WalkNet from Prof.Dr.Cruse et al)

i think, that for this purpose i should control the servo (into a cog) in parallel and in realTime.
its possible that a servoCog (Leg1-ShoulderServo1) on Leg1 talks
with a servoCog (Leg4 - ShoulderServo1) and visiversa.
you know my problem now.

the attachted program are verry simple only to testing
the possiblity <<every servo is a cog>>

now you know my problem

if you have for this problem good ideas or tips,
i am verrry grateful.
thanks for your help

regard
nomad

Post Edited (nomad) : 7/15/2007 4:47:39 PM GMT

Mike Green

A couple of thoughts:

1) The servos require a control pulse every 20ms. You could certainly use this as the "heartbeat" or cycle time of your control loop for each servo.
The Propeller is fast enough so it can do a lot of processing in each cycle. On the other hand, this seems to be an artificial constraint of the system.

2) Do you really want to divide up the control function into individual servos? Would it be more useful to have a separate system for each leg?

nomad

hi mike,
thanks for the tips.
today (monday), i testing some various programs.
and call back
regards
nomad