Cog problem
LaserSteve
Posts: 21
in Propeller 1
I can't get the LEFT and the RIGHT routines to both run at the same time.
The RIGHT routine works fine, but I can only get the LEFT routine to run by disabling the RIGHT routine.
To me they appear to be completely independent, but something is getting in the way.
The RIGHT routine works fine, but I can only get the LEFT routine to run by disabling the RIGHT routine.
To me they appear to be completely independent, but something is getting in the way.
CON
_CLKMODE = XTAL1 + PLL16X
_XINFREQ = 5_000_000
var
long PWMstack,LeftStack,RightStack,a,b
PUB Main
cognew(Left,@Leftstack[3000] ) 'Command the left wheels
cognew(Right,@RightStack[3000] ) 'Command the right wheels
cognew(PWMCLocK,@PWMstack[90] ) 'Internal PWM clock
dira[3]~ 'set the I/O ports 3,5,7,9, and 11 to inputs
dira[5]~
dira[7]~
dira[9]~
dira[11]~
dira[8]~~ 'set the I/O ports 8,10,12, and 14 to outputs
dira[12]~~
dira[10]~~
dira[14]~~
repeat ' CheckingInputs
if ina[5]==0 'Left forward on
outa[10]:=1
outa[14]:=0
if ina[7]==0 'Left reverse on
outa[10]:=0
outa[14]:=1
if ina[5]==1 and ina[7]==1 'Left forward off and left reverse off
outa[10]:=1
outa[14]:=1
if ina[9]==0 'Right forward on
outa[8]:=1
outa[12]:=0
if ina[11]==0 'Right reverse on
outa[8]:=0
outa[12]:=1
if ina[9]==1 and ina[11]==1 'Right forward off and right reverse off
outa[8]:=1
outa[12]:=1
Repeat
PUB Right 'Control the right wheels
dira[4]~~
outa[4]~
dira[17]~~
outa[17]~
repeat
b:=600
repeat while ina[9]==0 or ina[11]==0
outa[17]~~
'******* Ramp up to speed
repeat while b<9000 ' steps per iteration. 9999 maximum pulse width
b+=50
waitpeq(%0010, %0010,0) 'Waiting for the PWM clock to go high on I/O port 1 (0010)
outa[4]~~
waitcnt(cnt+b)
outa[4]~
'*********** Travel ************
waitpeq(%0010, %0010,0) 'Waiting for the PWM clock to go high
outa[4]~~
waitcnt(cnt+b)
outa[4]~
'****** Ramp down *****
repeat while b > 700
b:=b-100
waitpeq(%0010, %0010,0) 'Waiting for the PWM clock to go high
outa[4]~~
waitcnt(cnt+b)
outa[4]~
outa[17]~
PUB Left 'Control the left wheels
dira[6]~~
outa[6]~
dira[16]~~
repeat
a:=600
repeat while ina[5]==0 or ina[7]==0
outa[16]~~
'******* Ramp up to speed
repeat while a<9000 ' steps per iteration. 9999 maximum pulse width
a+=50
waitpeq(%0010, %0010,0) 'Waiting for the PWM clock to go high on I/O port 1 (0010)
outa[6]~~
waitcnt(cnt+a)
outa[6]~
'*********** Travel ************
waitpeq(%0010, %0010,0) 'Waiting for the PWM clock to go high
outa[6]~~
waitcnt(cnt+a)
outa[6]~
'****** Ramp down *****
repeat while a > 700
a:=a-100
waitpeq(%0010, %0010,0) 'Waiting for the PWM clock to go high
outa[6]~~
waitcnt(cnt+a)
outa[6]~
outa[16]~
'******* CLOCK *******
PUB PWMCLocK
dira[1]~~
repeat
outa[1]~~
waitcnt(500 + cnt)
outa[1]~
waitcnt(20000+cnt)
'***********************
Comments
long PWMstack[10], LeftStack[20], RightStack[20], a, b
Leave out the [3000] and [90] in the cognew statements.
The stack sizes can be bigger. I'd probably use 50 and look carefully at the program after it's working to see if a lesser amount is really needed.
My programming is rather rusty.
Best regards.
I must confess, my knowledge about P1 is very limited, so I need to resort to logical comparisons, in order to find something weird in a piece of code.
Apart from the problem Mike Green did well spoted at the above post, the right and left routines seem to be very simmetric twins, which called my attention to the lack of an initial setup at pin [16] as I've done in the following code snippet:
Hope it helps
Henrique