problem with encoders

stamp_demon · 2005-05-18 02:33

Tonight I installed the bs2px. Sence I have the wheel encoders seem to be acting up.. After start up, it just spins in a circle.. All lines seem to be connected correct, but it just spins in circles. The encoders were originally hooked up a few weeks ago, and has performed quite well up till now...
· Thanx again _Duane

Chris Savage · 2005-05-18 03:03

Hello,

·· Some of the timing parameters for the BS2px are different than some of the other BS2 models, perhaps you should post your code and we can see what's going on.

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Chris Savage
Parallax Tech Support
csavage@parallax.com

stamp_demon · 2005-05-18 03:22

Okay here is my code. It ran pretty okay for the most part untill I installed the bs2px.. I'm sure its a timing issue, but I can't find it.... Thankyou for all your help .. _Duane

(replace this text with your code)
' {$STAMP BS2px}
' {$PBASIC 2.5}
  Ping            PIN     15
  #SELECT $STAMP
  #CASE BS2, BS2E
    Trigger     CON     5                       ' trigger pulse = 10 uS
    Scale       CON     $200                    ' raw x 2.00 = uS
  #CASE BS2SX, BS2PX
    Trigger     CON     13
    Scale       CON     $0CD                    ' raw x 0.80 = uS
  #CASE BS2PE
    Trigger     CON     5
    Scale       CON     $1E1                    ' raw x 1.88 = uS
  #ENDSELECT

RawToIn         CON     889                     ' 1 / 73.746 (with **)
RawToCm         CON     2257                    ' 1 / 29.034 (with **)

IsHigh          CON     1                       ' for PULSOUT
IsLow           CON     0

rawDist         VAR     Word                    ' raw measurement
inches          VAR     Word
cm              VAR     Word

right CON 0
left CON 1
senseR PIN 10
senseL PIN 11
motorR PIN 14
motorL PIN 13

sense CON senseR
motor CON motorR

prev VAR Bit(2)
new VAR Bit(2)
side VAR Byte
i VAR Byte
counter VAR Word(2)
counterir VAR Word
oldirR VAR Bit
oldirL VAR Bit
countersonar VAR Bit
counter_cornerSIR VAR Bit
sonarC  VAR Word
sonarL  VAR Word
sonarR  VAR Word
va2 VAR Bit       ' value were,(IR)
va   VAR   Byte   ' readings are stored.

          'Constant declarations (IR)
irclock_right  CON   1   ' pin 1 is output (clock)
irdata_right   CON   2   ' pin 2 is the input (data)
irclock_left   CON   3   ' pin 3 is output (clock)
irdata_left    CON   4   ' pin4  is input   (data)
          ' I/O pin setup for detector (IR)
INPUT irdata_left       'make pin 3 input
HIGH  irdata_left       ' make pin 4 outpt & high.
INPUT irdata_right      ' make pin 1 the input
HIGH irclock_right      ' make pin 2 output & high.

          'intilazation
             counter_cornerSIR = 0
               counterir = 0
                 countersonar = 0

      main:
          PAUSE 2000
            DO
             GOSUB ir_sence
           GOSUB sonar
          GOSUB corner_test
         LOOP

    range:
     GOSUB get_sonar
       cm = rawdist ** RawToCm
         sonarC = cm +1
           GOSUB left_turn
             GOSUB get_sonar
               cm = rawdist ** RawToCm
                 sonarL = cm +1
               GOSUB right_turn
             GOSUB right_turn
          GOSUB get_sonar
        cm = rawdist ** RawToCm
      sonarR = cm +1
        IF (sonarC > sonarL AND sonarR) THEN
          GOSUB forward
            ELSEIF (sonarL > sonarC AND sonarR) THEN
          GOSUB back_up
        GOSUB left_turn
      ELSEIF (sonarR > sonarL AND sonarC) THEN
    GOSUB back_up
   GOSUB right_turn
     ELSE
       GOSUB back_up
         GOSUB back_up
           GOSUB left_turn
             GOSUB left_turn

               ENDIF
                 RETURN

    Sonar:
    countersonar = countersonar + 1
      GOSUB Get_Sonar                      ' get sensor value
         inches = rawDist ** RawToIn       ' convert to inches
             cm = rawDist ** RawToCm       ' convert to centimeters
                 IF cm <12 THEN
                     GOSUB back_up
                         GOSUB right_turn
                     GOSUB right_turn
                   ELSE
                GOSUB forward
             ENDIF
          RETURN

    ir_sence:
        GOSUB read06
                    GOSUB read05
       IF(IN2 <> IN4) THEN
           IF (oldirR <> IN2) AND (oldirL <> IN4) THEN
              counterir = counterir + 1
                 oldirR = IN2
                   oldirL = IN4
                     IF (counterir > 2) THEN
                   counterir = 1
                GOSUB back_up
              GOSUB left_turn
           GOSUB left_turn
                 ENDIF
                 ELSE
                 counterir = 1
                  ENDIF
                  ENDIF
                      IF (va = 0) THEN
                              GOSUB back_up
                                    GOSUB left_turn
                                ELSEIF (va = 1) THEN
                             GOSUB forward
                         ENDIF
                      IF (va2 = 0) THEN
                 GOSUB back_up
            GOSUB right_turn
                 ELSEIF (va2 = 1) THEN
                    GOSUB forward
                       ENDIF
                          RETURN
      forward:
        counter(left) = 0
            DO WHILE (counter(left) < 1)
               PULSOUT motorL, 849
             PULSOUT motorR, 647
           GOSUB update
          LOOP
       RETURN

         back_up:
              counter(left) = 0
                  DO WHILE (counter(left) < 3)
                        PULSOUT motorL, 650
                            PULSOUT motorR, 847
                         GOSUB update
                       LOOP
                    RETURN

    left_turn:
      counter (left) = 0
         DO WHILE (counter(left)< 4)
           PULSOUT motorL, 650
             PULSOUT motorR, 650
            GOSUB update
          LOOP
       RETURN

    right_turn:
         counter(right) = 0
           DO WHILE (counter(right) < 4)
             PULSOUT motorR, 850
           PULSOUT motorL, 850
         GOSUB update
        LOOP
       RETURN

Chris Savage · 2005-05-18 03:25

WOW!· Try to attach code from now on...That's alot to attempt to read...It'd have been easier to open it in the Stamp Editor...

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Chris Savage
Parallax Tech Support
csavage@parallax.com

Post Edited (Chris Savage (Parallax)) : 5/18/2005 3:29:13 AM GMT

stamp_demon · 2005-05-18 03:38

Yeah, I'm really sorry about that I tryed attaching it, but endded up with a empty window.. Tryed dragging it, but it wouldnt...

Chris Savage · 2005-05-18 17:34

Hello,

· You're going to need to test your code in smaller sections or something.· Frankly I can't see how this code worked anyway, since it appears to be missing sections.· There are GOSUBs to several labels that don't exist.· Therefore it's impossible to help you because this code won't run any any BASIC Stamp.

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Chris Savage
Parallax Tech Support
csavage@parallax.com

stamp_demon · 2005-05-19 00:19

I see what you mean, it looks like it didnt all post... However I belive it has to do with the puilsout commands... I tryed runing a simple prog yesterday calling each servo .. it did the same... must be a difference in timming with the bs2px....
it was something like this....

main:
do
pulsout 12,850
pulsout 13,650
pause 20
loop

it just spun in circles .. wich leads me to belive that there is a difference in timming/pulsout· for the bs2px.. sadlly i donot know what value is required for forward,reverse, right,and left turns....
thanx again duane

Chris Savage · 2005-05-19 00:35

Hello,

·· Yes, I explained this at the beginning of the thread.· Try changing the values to those used for the BS2p.· You're using the BS2 timing for the PULSOUT, and those won't work.· If you have any questions, look in the help file under PULSOUT.· It explains the differences in the timing there.

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Chris Savage
Parallax Tech Support
csavage@parallax.com

problem with encoders

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