Need help with a little optimization

SailerMan

I have been playing around with this code for a while, I'm slowly getting it down in size and I want to work on the Change Direction section of the Code.

Currently these pins control the motor directions of both M1 and M2 motors, One is high while the other is low.


M1_INA Pin RB.7 Output
M1_INB Pin RB.2 Output

M2_INA Pin RC.3 Output
M2_INB Pin RC.1 Output

Looking below does anyone have any suggestion on how to make this code more optimized?

Thanks in Advance,
Eric

DEVICE          SX48, OSCHS3 
FREQ            50_000_000


ID  "MotorV.1"
 
Baud        CON    "T19210"
 

DataInPin             Pin     RB.0 Input
DataOutPin            Pin     RB.1 OutPut

MOTOR                    Var     Byte
Direction            Var     Byte(2)
Speed                Var    Byte(2)
MarkSpeed            Var    Byte

 
Delay                  Var     Byte
Index                    Var        Byte 

tmpB1                   Var     byte
tmpB2                   Var     Byte

Temp                Var     byte 


MOTOR                    Var     Byte
Direction            Var     Byte(2)

Command             Var    byte

LED0    Pin RD.0
LED1    Pin RD.1
LED2    Pin RD.2
LED3    Pin RD.3

LED4    Pin RE.0
LED5    Pin RE.1
LED6    Pin RE.2
LED7    Pin RE.3


M1_INA    Pin RB.7 Output 
M1_INB  Pin RB.2 Output    
M2_INA  Pin RC.3 Output
M2_INB  Pin RC.1 Output



M1_PWM    Pin RB.6 Output
M2_PWM    Pin RC.2 Output 

 
 


' =========================================================================
INTERRUPT 1000  
    TIMER1 PWM,Speed(1),256
    TIMER2 PWM,Speed(2),256
' =========================================================================
RETURNINT  

ACK                Sub 0
SendData             Sub 1
SET_SPEED             Sub 0
Change_Direction         Sub 0
Get_Info             Sub 0
GetData             Func 1


RB=%0100_0000
RC=%0000_1000
 
PROGRAM Start NoStartup
 
Start:
 
Tris_C=%00000000
Tris_E=%00000000
Tris_D=%00000000
Tris_B=%00000000
     
Main: 
Do
         DO
              Command=GetData
        LOOP UNTIL Command = "!"
           DO
              Command=GetData
        LOOP UNTIL Command = "M" 
        DO
              Command=GetData
        LOOP UNTIL Command = "C" 

        Command=GetData
        
        ON Command = "S", "D", "I" GOSUB  SET_SPEED , Change_Direction, Get_Info
Loop

SET_SPEED:
        
            High LED0
            MOTOR=GetData
            Speed(MOTOR)=GetData 
            ACK 
            Speed(MOTOR)=Speed(MOTOR) Max 128 
            Low LED0
        
Return

Change_Direction:
        
            MOTOR=GetData
            Temp=GetData
            ACK
            High LED1
            If Direction(MOTOR)= Temp Then E_X_I_T 
             
             Direction(MOTOR)= Temp
            MarkSpeed=Speed(MOTOR)
            Do
                DEC Speed(MOTOR)
                Speed(MOTOR) = Speed(MOTOR) Min 1
                Pause 5
                 
            LOOP Until Speed(MOTOR)=1
            If MOTOR=1 Then
                If Direction(1)=1 Then 
                    High M1_INA      
                    Low M1_INB  
                ElseIf Direction(1)=2 Then
                    High M1_INB      
                    Low M1_INA
                EndIF
            EndIf  
             If MOTOR=2 Then
                If Direction(2)=1 Then 
                    High M2_INA      
                    Low M2_INB  

                ElseIf Direction(2)=2 Then
                    High M2_INB      
                    Low M2_INA
                EndIF
            EndIf
            Do
                Inc Speed(MOTOR)
                Speed(MOTOR) = Speed(MOTOR) Max MarkSpeed
                Pause 5
                  
            
            LOOP Until Speed(MOTOR)=MarkSpeed
             
            Low LED1
        
E_X_I_T:
Return 

Get_Info:

Return 

Fault:
    HIGH LED3
    PAUSE 10
    LOW LED3
Return 

ACK:
    SendData "A"
    SendData "C"
    SendData "K"
Return


     
Return 
SendData:
    SerOut DataOutPin,Baud,__Param1
Return 
GetData:
    SerIn  DataInPin,Baud,__Param1,100,FAULT 
Return __Param1

Sparks-R-Fun

Eric,

If you wish to reduce codespace you can remove a few of your IF and ELSE statements while still maintaining nearly the same functionality. For example, you check to see if you are addressing motor #1 and if so you handle changes to its data. Next you check to see if you are addressing motor #2 and if you are you handle changes to its data. I do not think you expect to change both motors during the same pass through the subroutine. You could therefore assume that if you are not processing data for motor #1 then you must be processing data for Motor #2. You could handle direction changes in a similar fashion. This will result in a codespace reduction. The drawback is that you must insure elsewhere (wherever these commands are being generated) that the assumptions being made will always be true! The subroutine as you have it written now will ignore commands for motor numbers larger than two. If you reduce some of the logic statements to save some space, any motor number greater than one will be treated as though it ought to be addressing motor two. If it is unlikely that invalid commands will be sent then you can save a few bytes of codespace by assuming that if condition one is not met than condition two probably was.

I realize this may not be the type of “optimization” you desired; but it is what came to my mind!

- Sparks

SailerMan

Thanks for the reply... I was thinking that I could change which pins I'm using and Use some kind of magic boolean math to make it shorter. You Idea it a great one and I will use it. Thanks.

Eric
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