COG and object questions

Comments

• Duane Degn Posts: 10,588

  2012-03-03 07:50 edited 2012-03-03 07:50

  So now I wonder is it not functioning due to the fact that the child object is in an endless loop, or is it something else?

  
  I don't see the endless loop in the child object?
  
  Edit: Or was your concern there is an endless loop you didn't intend to occur?
  
  Edit again: I suspect "MoinitorSpeedChange" doesn't have the proper indentation to loop the way you are expecting. My guess is everything after "REPEAT WHILE lUpdateSpeed == FALSE" should be indented (within that method).
• ratronic Posts: 1,451

  2012-03-03 08:45 edited 2012-03-03 08:45

  Bruce in the method "MaintainCurrentMotorSpeed" there is a line - REPEAT WHILE 1UpdateSpeed == FALSE, it will stick there unless that variable is defined in the cog that started that cog and it is changed there.
  
  Edit: Duane the way he is using repeat in that instance it is a one line instruction.
• idbruce Posts: 6,197

  2012-03-03 09:32 edited 2012-03-03 09:32

  @Duane Degn

  Edit again: I suspect "MoinitorSpeedChange" doesn't have the proper indentation to loop the way you are expecting. My guess is everything after "REPEAT WHILE lUpdateSpeed == FALSE" should be indented (within that method).

  
  The final instruction of Initialize is a call to MonitorSpeedChange, and I believe REPEAT WHILE lUpdateSpeed == FALSE is an endless loop, because I don't believe the call to SetSpeedDir from the parent updates the lUpdateSpeed variable. As far as the indentation goes, my intention was to just keep looping there until lUpdateSpeed equaled TRUE and then execute the remainder of the method, so indentation was not desired. The call from the parent to SetSpeedDir is intended to initialize some variables and then change lUpdateSpeed to TRUE, which would then allow MonitorSpeedChange to exit the REPEAT WHILE lUpdateSpeed == FALSE loop and continue on in that method.
  
  @ratronic

  Bruce in the method "MaintainCurrentMotorSpeed" there is a line - REPEAT WHILE 1UpdateSpeed == FALSE, it will stick there unless that variable is defined in the cog that started that cog and it is changed there.

  
  Thanks I will try that.
• ratronic Posts: 1,451

  2012-03-03 09:40 edited 2012-03-03 09:40

  Bruce that goes for all the REPEAT WHILE statements including the one Duane mentioned.
• idbruce Posts: 6,197

  2012-03-03 09:46 edited 2012-03-03 09:46

  ratronic
  
  All indentation is as intended.
  
  As long as lUpdateSpeed == FALSE, it will just sit there and loop, but when lUpdateSpeed == TRUE, the remainder of the method should excute.
• Duane Degn Posts: 10,588

  2012-03-03 09:53 edited 2012-03-03 09:53

  I'm assuming you want to keep the cog you start with your "Start" method alive. I don't see a loop that will do this.
• idbruce Posts: 6,197

  2012-03-03 09:58 edited 2012-03-03 09:58

  ratronic
  
  You are overlooking the obvious
  

  PUB MonitorSpeedChange
    REPEAT WHILE lUpdateSpeed == FALSE
  
• idbruce Posts: 6,197

  2012-03-03 10:01 edited 2012-03-03 10:01

  Sorry ratronic, the last post was intended for Duane
• ratronic Posts: 1,451

  2012-03-03 10:09 edited 2012-03-03 10:09

  Bruce not only to keep it alive but you can also add a method to update variables from the top object.
• idbruce Posts: 6,197

  2012-03-03 10:14 edited 2012-03-03 10:14

  ratronic
  
  That is what PUB SetSpeedDir(MaxExeMotorSpeed, StartStopSpeed, RampIncDec, Direction, StopMotor, DisableMotor) is intended for.
• ratronic Posts: 1,451

  2012-03-03 10:35 edited 2012-03-03 10:35

  Bruce I haven't looked real close at your code but you need to define & update your variables in your parent program that starts the child program for the variables you want to change in your child program with the parent.
• idbruce Posts: 6,197

  2012-03-03 10:44 edited 2012-03-03 10:44

  ratronic
  

  Bruce I haven't looked real close at your code but you need to define & update your variables in your parent object that starts the child object for the variables you want to change.

  
  Why would I need to do that?
  
  In the child object, the SetSpeedDir method needs values for it's parameters. From the parent method I pass that method values to it's parameters. As stated above and shown below.
  

  Stepper1.SetSpeedDir(CLKFREQ / 13_000, CLKFREQ / 1_600, CLKFREQ / 3_200_000, 0, FALSE, FALSE)
  
• ratronic Posts: 1,451

  2012-03-03 10:53 edited 2012-03-03 10:53

  But the 1UpDateSpeed cannot be changed from within the new started cog when it is stuck in a REPEAT WHILE loop. The only way to change 1UpDateSpeed is from somewhere else.
• idbruce Posts: 6,197

  2012-03-03 10:59 edited 2012-03-03 10:59

  ratronic
  

  But the 1UpDateSpeed cannot be changed from within the new started cog when it is stuck in a REPEAT WHILE loop. The only way to change 1UpDateSpeed is from somewere else.

  
  I understand that... Look at the last instruction of the SetSpeedDir method, this is where that value is updated and it is not running in that cog.
  

  PUB SetSpeedDir(MaxExeMotorSpeed, StartStopSpeed, RampIncDec, Direction, StopMotor, DisableMotor) | RampingSteps
    RampingSteps := (StartStopSpeed - MaxExeMotorSpeed) / RampIncDec
    lNewMaxExeMotorSpeed := MaxExeMotorSpeed
    lNewStartStopSpeed := StartStopSpeed
    lNewRampIncDec := RampIncDec
    lNewDirection := Direction
    lNewRampingSteps := RampingSteps
    
    IF StopMotor == TRUE
    
      lStopMotor := TRUE
      
    ELSE
    
      lStopMotor := FALSE
      
    IF DisableMotor == TRUE
    
      lDisableMotor := TRUE
    ELSE
      lDisableMotor := FALSE 
    lUpdateSpeed := TRUE
  
• ratronic Posts: 1,451

  2012-03-03 11:17 edited 2012-03-03 11:17

  Edit: you are right, it does get set to true.
  
  Edit2: but if that variable is to be used in a REPEAT WHILE statement it will have to be changed from another cog to get out of that loop.
• Duane Degn Posts: 10,588

  2012-03-03 12:44 edited 2012-03-03 12:44

  MonitorSpeedChange can call RampDownMotorSpeed which in turn can call MonitorSpeedChange and so on.
  
  You're treating methods as goto statements. You'll soon run out of stack space doing it this way.
• idbruce Posts: 6,197

  2012-03-03 13:15 edited 2012-03-03 13:15

  You're treating methods as goto statements. You'll soon run out of stack space doing it this way.

  
  
  
  hmmmmmm
• ratronic Posts: 1,451

  2012-03-03 13:57 edited 2012-03-03 13:57

  Bruce here is a simple demo showing the top object setting it's A to 1 then starting a child object which starts a new cog to show it's value of A on the serial terminal. You will see A at first display as 1 then in a little bit it will start incrementing A from 0 being updated from the top object.

  Con         'parent object                                                    
                                                           
    _CLKMODE = XTAL1 + PLL16X                              
    _XINFREQ = 5_000_000  
      
  Var
    long one, two, three
    long a, b, c, d, e, f                     
  Obj                                                      
    child : "template"
                
  Pub main
    a := 1
    child.start(a, b, c)
    waitcnt(clkfreq*4+cnt)
    repeat
      child.update(d++, e, f)
      waitcnt(clkfreq/2+cnt)
  

  Child object

  Var          'child object
    long a, b, c
    long stack[50]
  Obj
    io : "parallax serial terminal"  
            
  Pub start(x, y, z)
    io.start(115200)
    a := x
    b := y
    c := z
    cognew(loop, @stack)
    
  Pub update(one, two, three)
    a := one
    b := two
    c := three
        
  Pub loop
    
    repeat      
      io.char(1)
      io.dec(a)
      waitcnt(clkfreq/100+cnt)
  

  zip

  zip

  atemplate - Archive [Date 2012.03.03 Time 13.45].zip

  9K

  atemplate - Archive [Date 2012.03.03 Time 13.45].zip 9.4K
• idbruce Posts: 6,197

  2012-03-03 14:29 edited 2012-03-03 14:29

  @Duane and ratronic
  
  I want to thank you guys for your input, so thank you. I will try to modify my code a little later and see what happens.
  
  Bruce