XBee wireless troubles
gennarobasso81
Posts: 84
thank you for looking at my post,
I am having some issues with the xbee. I read through the manual for reference and still not sure.
I am trying to make a wireless remote control for a boe bot.
Using:
1 x 2 axis joystick
2 x push buttons
2 x BS2
1 x lcd
so far i am still testing the xbee's to get a better understanding of them. I have code for making the pushbuttons make two leds light up. I would like to make the pushbuttons do preset servo actions.
eventually i would like to use the 2 axis joystick to control the servo's forward and back, left and right. The push buttons would be for a 90 degree turn left and right. The code is still in the begining stage.
the code above just controls two leds
The code below is an attemp to control servos in a faster response from the xbees. I am very new to this and dont fully understand all of pbasic and how everything works. so this is all trial and error.
any help is appreciated
I am having some issues with the xbee. I read through the manual for reference and still not sure.
I am trying to make a wireless remote control for a boe bot.
Using:
1 x 2 axis joystick
2 x push buttons
2 x BS2
1 x lcd
so far i am still testing the xbee's to get a better understanding of them. I have code for making the pushbuttons make two leds light up. I would like to make the pushbuttons do preset servo actions.
eventually i would like to use the 2 axis joystick to control the servo's forward and back, left and right. The push buttons would be for a 90 degree turn left and right. The code is still in the begining stage.
' {$STAMP BS2}
' {$PBASIC 2.5}
'----------------[Initialize]---------------------------
PAUSE 5
SEROUT 2, 84, [22,12]
SEROUT 2, 84,50, [22,17, "Hello", 13, "Geno"]
PAUSE 1000
SEROUT 2, 84, [22,12]
PAUSE 5
'---------------[Variables]-----------------------------
LR VAR Word
UD VAR Word
btn1wrk VAR Byte
btn2wrk VAR Byte
'---------------[Constants]-----------------------------
BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press
BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press
Btn1 PIN 6
Btn2 PIN 7
Tx PIN 14 ' XBee DIN
Rx PIN 15 ' XBee DOUT
stickUD CON 25
stickLD CON 25
led CON 0
led1 CON 1
'-------------------------[Main]---------------------------
Main:
HIGH 13
PAUSE 2
RCTIME 13, 1, UD
HIGH 12
PAUSE 2
RCTIME 12, 1, LR
DEBUG HOME, "UD =", DEC UD, CLREOL, CR,
"LR = ", DEC LR, CLREOL
IF UD > stickUD + 2 THEN GOSUB Forward
IF UD < stickUD - 2 THEN GOSUB Backwards
IF UD = stickUD THEN GOSUB Clear
IF LR > stickLD + 2 THEN GOSUB Right
IF LR < stickLD - 2 THEN GOSUB Left
IF LR = stickLD THEN GOSUB Clear
IF btn1 =1 THEN
DEBUG CR, "Button 1 pushed"
GOSUB Left_Turn
DEBUG CLS
ENDIF
IF btn2 = 1 THEN
DEBUG CR, "Button 2 pushed"
GOSUB Right_Turn
DEBUG CLS
ENDIF
No_Press:
GOTO main
GOTO main
'-------------------------[Sub Routine]-----------------------
Forward:
SEROUT 2,84, 20, [17, 128, "Forward"]
PAUSE 200
RETURN
Backwards:
SEROUT 2, 84, 20, [17, 128, "Backwards"]
PAUSE 200
RETURN
Right:
SEROUT 2, 84, 20, [17, 148, "Right"]
PAUSE 200
RETURN
Left:
SEROUT 2, 84, 20, [17,148, "left"]
PAUSE 200
RETURN
Clear:
SEROUT 2, 84, [12,17]
PAUSE 200
RETURN
Left_Turn:
IF Btn1 = 1 THEN SEROUT 2, 84, ["Left", 13, "Turn"]
SEROUT Tx, 84,[DEC 0,CR]
PAUSE 500
IF Btn1 = 0 THEN SEROUT 2, 84, [12]
PAUSE 5
RETURN
Right_Turn:
IF btn2 = 1 THEN SEROUT 2, 84, ["Right", 13, "Turn"]
SEROUT Tx, 84, [DEC 1,CR]
PAUSE 500
IF btn2 = 0 THEN SEROUT 2, 84, [12]
PAUSE 5
RETURN
the code above just controls two leds
The code below is an attemp to control servos in a faster response from the xbees. I am very new to this and dont fully understand all of pbasic and how everything works. so this is all trial and error.
' {$STAMP BS2}
' {$PBASIC 2.5}
' ***************** Configure XBee in AT Command Mode
PAUSE 500
DEBUG CLS,"Configuring XBee..."
PAUSE 3000 ' Guard time
SEROUT Tx,84,["+++"] ' Command Mode Sequence
PAUSE 2000 ' Guard time
SEROUT Tx,84,["ATGT 3,MY 0",CR] ' Set low guard time and Base address
SEROUT TX,84,["ATCN",CR] ' Exit Command Mode
'----------------[Initialize]---------------------------
PAUSE 5
SEROUT 2, 84, [22,12]
SEROUT 2, 84,50, [22,17, "Hello", 13, "Geno"]
PAUSE 1000
SEROUT 2, 84, [22,12]
PAUSE 5
'---------------[Variables]-----------------------------
LR VAR Word
UD VAR Word
btn1wrk VAR Byte
btn2wrk VAR Byte
'---------------[Constants]-----------------------------
BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press
BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press
Btn1 PIN 6
Btn2 PIN 7
Tx PIN 14 ' XBee DIN
Rx PIN 15 ' XBee DOUT
stickUD CON 25
stickLD CON 25
led CON 0
led1 CON 1
'-------------------------[Main]---------------------------
Main:
HIGH 13
PAUSE 2
RCTIME 13, 1, UD
HIGH 12
PAUSE 2
RCTIME 12, 1, LR
DEBUG HOME, "UD =", DEC UD, CLREOL, CR,
"LR = ", DEC LR, CLREOL
IF UD > stickUD + 2 THEN GOSUB Forward
IF UD < stickUD - 2 THEN GOSUB Backwards
IF UD = stickUD THEN GOSUB Clear
IF LR > stickLD + 2 THEN GOSUB Right
IF LR < stickLD - 2 THEN GOSUB Left
IF LR = stickLD THEN GOSUB Clear
IF btn1 =1 THEN
DEBUG CR, "Button 1 pushed"
GOSUB Left_Turn
DEBUG CLS
ENDIF
IF btn2 = 1 THEN
DEBUG CR, "Button 2 pushed"
GOSUB Right_Turn
DEBUG CLS
ENDIF
No_Press:
GOTO main
GOTO main
'-------------------------[Sub Routine]-----------------------
Forward:
SEROUT 2,84, 20, [17, 128, "Forward"]
PAUSE 200
RETURN
Backwards:
SEROUT 2, 84, 20, [17, 128, "Backwards"]
PAUSE 200
RETURN
Right:
SEROUT 2, 84, 20, [17, 148, "Right"]
PAUSE 200
RETURN
Left:
SEROUT 2, 84, 20, [17,148, "left"]
PAUSE 200
RETURN
Clear:
SEROUT 2, 84, [12,17]
PAUSE 200
RETURN
Left_Turn:
IF Btn1 = 1 THEN SEROUT 2, 84, ["Left", 13, "Turn"]
SEROUT Tx, 84,[DEC 0,CR]
PAUSE 500
IF Btn1 = 0 THEN SEROUT 2, 84, [12]
PAUSE 5
RETURN
Right_Turn:
IF btn2 = 1 THEN SEROUT 2, 84, ["Right", 13, "Turn"]
SEROUT Tx, 84, [DEC 1,CR]
PAUSE 500
IF btn2 = 0 THEN SEROUT 2, 84, [12]
PAUSE 5
RETURN
any help is appreciated
Comments
I notice that routines like Left_Turn and Right_Turn use indenting for nesting. That works for Spin and the Propeller, but doesn't exist in PBasic. Look at the examples for the IF statement in the PBasic manual.
thank you for replying...sorry it has been so long since i have been on to say thank you. Crazy month here had a baby then had hurricane sandy hit us directly. Just getting back to normal life now.
You are correct in ur observation though, i am new to programing and reading ever bit of info i can while working on a project at the same time.
so if the button command isnt the right command to use then what should i use?
Yeah, new babies and massive hurricanes have a way of distracting people. Glad things are getting back to normal although babies have a way of shifting that mark.
BUTTON is useful mostly if you need its auto-repeat capability, where holding down a key causes its action to repeat at some interval. Otherwise it is overkill. Straightforward code needs only a single bit variable to manage the button actions for key-up-transition, key-down-transition, key-held-up and key-held-down. I have a writeup on the inner workings of BUTTON posted at http://emesystems.com/BS2fsm.htm#BUTTON.
' {$STAMP BS2} ' {$PBASIC 2.5} '----------------[Initialize]--------------------------- PAUSE 5 SEROUT 2, 84, [22,12] SEROUT 2, 84,50, [22,17, "Hello", 13, "Geno"] PAUSE 1000 SEROUT 2, 84, [22,12] PAUSE 5 '---------------[Variables]----------------------------- LR VAR Word UD VAR Word btn1wrk VAR Byte btn2wrk VAR Byte Led VAR Bit Led1 VAR Bit '---------------[Constants]----------------------------- BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press Btn1 PIN 6 Btn2 PIN 7 Tx PIN 14 ' XBee DIN Rx PIN 15 ' XBee DOUT stickUD CON 25 stickLD CON 25 '-------------------------[Main]--------------------------- Main: HIGH 13 PAUSE 2 RCTIME 13, 1, UD HIGH 12 PAUSE 2 RCTIME 12, 1, LR DEBUG HOME, "UD =", DEC UD, CLREOL, CR, "LR = ", DEC LR, CLREOL IF UD > stickUD + 2 THEN GOSUB Forward IF UD < stickUD - 2 THEN GOSUB Backwards IF UD = stickUD THEN GOSUB Clear IF LR > stickLD + 2 THEN GOSUB Right IF LR < stickLD - 2 THEN GOSUB Left IF LR = stickLD THEN GOSUB Clear IF btn1 =1 THEN DEBUG CR, "Button 1 pushed" GOSUB Left_Turn DEBUG CLS ENDIF IF btn2 = 1 THEN DEBUG CR, "Button 2 pushed" GOSUB Right_Turn DEBUG CLS ENDIF No_Press: GOTO main GOTO main '-------------------------[Sub Routine]----------------------- Forward: SEROUT 2,84, 20, [17, 128, "Forward"] PAUSE 200 RETURN Backwards: SEROUT 2, 84, 20, [17, 128, "Backwards"] PAUSE 200 RETURN Right: SEROUT 2, 84, 20, [17, 148, "Right"] PAUSE 200 RETURN Left: SEROUT 2, 84, 20, [17,148, "left"] PAUSE 200 RETURN Clear: SEROUT 2, 84, [12,17] PAUSE 200 RETURN Left_Turn: IF Btn1 = 1 THEN SEROUT 2, 84, ["Left", 13, "Turn"] SEROUT Tx, 84,[DEC 0,CR] PAUSE 500 IF Btn1 = 0 THEN SEROUT 2, 84, [12] PAUSE 5 RETURN Right_Turn: IF btn2 = 1 THEN SEROUT 2, 84, ["Right", 13, "Turn"] SEROUT Tx, 84, [DEC 1,CR] PAUSE 500 IF btn2 = 0 THEN SEROUT 2, 84, [12] PAUSE 5 RETURNand the receiver
' {$STAMP BS2} ' {$PBASIC 2.5} #SELECT $STAMP #CASE BS2, BS2E, BS2PE T9600 CON 84 #CASE BS2SX, BS2P T9600 CON 240 #CASE BS2PX T9600 CON 396 #ENDSELECT ' ***************** Variables, Constants and Pins Baud CON T9600 ' Set Baud rate Rx PIN 15 ' XBee DOUT Tx PIN 14 ' XBee DIN green PIN 0 red PIN 1 Led VAR Bit Led1 VAR Bit ' ***************** Main Loop DO SERIN Rx, 84, [DEC Led] SERIN Rx, 84, [DEC Led1] IF Led = 0 THEN HIGH green ' Turn on LED PAUSE 1000 LOW green ' Turn off LED ENDIF IF Led1 = 1 THEN HIGH red PAUSE 1000 LOW red ENDIF LOOPok so i can use the 2 axis joy stick to move my bot around now. I just did the joystick for now but since i got it working i will try on the other features...maybe just the ping like graffix is trying. Anyway here is code
Base code:
' Xbee Servo Base test #1 ' {$STAMP BS2} ' {$PBASIC 2.5} '----------------[Initialize]--------------------------- PAUSE 5 SEROUT 2, 84, [22,12] SEROUT 2, 84,50, [22,17, "Hello", 13, "Geno"] PAUSE 1000 SEROUT 2, 84, [22,12] PAUSE 5 '---------------[Variables]----------------------------- LR VAR Word UD VAR Word btn1wrk VAR Byte btn2wrk VAR Byte Led VAR Bit Led1 VAR Bit '---------------[Constants]----------------------------- BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press Btn1 PIN 6 Btn2 PIN 7 RTS PIN 10 Tx PIN 14 ' XBee DIN Rx PIN 15 ' XBee DOUT stickUD CON 25 stickLD CON 25 '-------------------------[Main]--------------------------- Main: DO HIGH 13 PAUSE 2 RCTIME 13, 1, UD HIGH 12 PAUSE 2 RCTIME 12, 1, LR DEBUG HOME, "UD =", DEC UD, CLREOL, CR, "LR = ", DEC LR, CLREOL SEROUT tX, 84, [UD] SEROUT Tx, 84, [LR] LOOP No_Press: GOTO MainRemote code: (Note: the Remote xbee is the boe-bot)
'Xbee Servo Remote test #1 ' {$STAMP BS2} ' {$PBASIC 2.5} #SELECT $STAMP #CASE BS2, BS2E, BS2PE T9600 CON 84 #CASE BS2SX, BS2P T9600 CON 240 #CASE BS2PX T9600 CON 396 #ENDSELECT '---------------[Variables]----------------------------- LR VAR Word UD VAR Word btn1wrk VAR Byte btn2wrk VAR Byte Led VAR Bit Led1 VAR Bit '---------------[Constants]----------------------------- BUTTON btn1, 1, 0, 0, btn1Wrk,0, No_Press BUTTON btn2, 1, 0, 0, btn2Wrk,0, No_Press Btn1 PIN 6 Btn2 PIN 7 RTS PIN 10 Tx PIN 14 ' XBee DIN Rx PIN 15 ' XBee DOUT stickUD CON 25 stickLD CON 25 Baud CON T9600 'Set Baud Rate ' ***************** Main Loop Main: DO SERIN Rx, 84, [UD, LR] DEBUG HOME, "UD =", DEC UD, CLREOL, CR, "LR = ", DEC LR, CLREOL IF UD > stickUD +2 THEN GOSUB Forward IF UD < stickUD -2 THEN GOSUB Backwards IF UD = stickUD +2 OR -2 THEN GOSUB Stay IF LR > stickLD +2 THEN GOSUB Right IF LR < stickLD -2 THEN GOSUB Left IF LR = stickLD +2 OR -2 THEN GOSUB Stay LOOP 'IF btn1 = 1 THEN GOSUB Left_Turn 'IF btn2 = 1 THEN GOSUB Right_Turn NO_Press: GOTO Main '-------------------------[Sub Routine]----------------------- Forward: PULSOUT 13, 850 PULSOUT 12, 650 PAUSE 20 RETURN Backwards: PULSOUT 13, 650 PULSOUT 12, 850 PAUSE 20 RETURN Right: PULSOUT 13, 848 PULSOUT 12, 850 PAUSE 20 RETURN Left: PULSOUT 13, 650 PULSOUT 12, 650 PAUSE 20 RETURN Stay: PULSOUT 13, 750 PULSOUT 12, 750 PAUSE 20 RETURN