Programming help with BoeBot

Comments

• Russ Ferguson Posts: 206

  2006-02-26 03:18 edited 2006-02-26 03:18

  Your main loop includes the subroutines for the servos. I think that it will work differently if you change the DO - LOOP to exclude the these lines.
  
  LOOP' Repeat main loop
  
  Forward_Pulse: ' Send a single forward pulse.
  FOR pulseCount = 0 TO 20
  PULSOUT 13,850
  PULSOUT 12,650
  PAUSE 20
  NEXT
  RETURN
  
  Turn_Left: ' Left turn, about 90-degrees.
  FOR pulseCount = 0 TO 20
  PULSOUT 13, 650
  PULSOUT 12, 650
  PAUSE 20
  NEXT
  RETURN
  
  Turn_Right:
  FOR pulseCount = 0 TO 20 ' Right turn, about 90-degrees.
  PULSOUT 13, 850
  PULSOUT 12, 850
  PAUSE 20
  NEXT
  RETURN
  
  Back_Up: ' Back up.
  FOR pulseCount = 0 TO 40
  PULSOUT 13, 650
  PULSOUT 12, 850
  PAUSE 20
  NEXT
  RETURN
  
  LOOP' Repeat main loop
• JeffN Posts: 18

  2006-02-26 15:38 edited 2006-02-26 15:38

  Thanks Russ, but unfortunatly it didn't work, servos still stop when LCD displays degrees.
  
  Jeff
• LoopyByteloose Posts: 12,537

  2006-02-26 15:46 edited 2006-02-26 15:46

  If you are reseting the BasicStamp, it could be a low power condition.
  
  1.·Check to see if your batteries are fresh.
  
  2. Try running from an AC supply.
  
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  "When all think alike, no one is thinking very much.' - Walter Lippmann (1889-1974)
  
  ······································································ Warm regards,····· G. Herzog [noparse][[/noparse]·黃鶴 ]·in Taiwan
• Bruce Bates Posts: 3,045

  2006-02-26 16:06 edited 2006-02-26 16:06

  Jeff -
  
  The beginning of your program presently looks like this:
  
  '

  ---

  [noparse][[/noparse] Initialization ]

  ---

  HIGH TX ' setup serial output pin
  PAUSE 100 ' allow LCD to initialize
  '

  ---

  [noparse][[/noparse] Main Routine ]

  ---

  
  Just after that coding above, and before any other, please add the following line:
  
  DEBUG "Starting"
  
  That message "Starting" should only appear once during any run of the program. If is appears more than once, the Stamp is being RESET. If it is resetting, then you can go on with the debugging procedures to determine why. Without knowing that, you're shooting in the dark.
  
  Regards,
  
  Bruce Bates
  
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• JeffN Posts: 18

  2006-02-26 16:34 edited 2006-02-26 16:34

  Thanks for all the help!
  Entered the debug "starting" just before the Do.
  When the program runs the "starting" only appears once.
  Batteries are new and the bot roams all over, but the servos stop only when going forward when the LCD displays the degrees.
• Derek Posts: 15

  2006-02-26 21:07 edited 2006-02-26 21:07

  The problem may be that the stamp can only handle one process at a time. so it is stopping the command to move the motors to calculate the degrees. Parallax has a servo contoller where you send the command for the motors to the servo controller and it "moves" the wheels rather than the microcontroller on the BOE.
  
  So this would allow moving the motors while calculating the degrees.
  
  Servo controller:
  http://www.parallax.com/detail.asp?product_id=28023
  
  Post Edited (Derek) : 2/26/2006 9:10:52 PM GMT
• Chris Savage Parallax Engineering Posts: 14,406

  2006-02-26 22:22 edited 2006-02-26 22:22

  Well, one thing that will affect motion is excessive delays and you have PAUSE statements all over the code mostly after writing to the LCD.And of course, as I think Russ pointed out, the end of your main loop falls right into the Subroutines.· That is bad.· That causes a RETURN for which there was no GOSUB.· Your LOOP is after a RETURN at the end of the subroutines where it will never be executed.
  
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  Chris Savage
  Parallax Tech Support
  csavage@parallax.com
• Chris Savage Parallax Engineering Posts: 14,406

  2006-02-26 22:25 edited 2006-02-26 22:25

  One other thing that stands out is that your Compass code, which appears to be kind of stuffed in at the end, waits for a status flag to continue.· Perhaps this is never happening.· Try placing a DEBUG at the entry and exit of that section to see if it ever makes it out.· My guess is it doesn't.
  
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  Chris Savage
  Parallax Tech Support
  csavage@parallax.com
• JeffN Posts: 18

  2006-03-15 23:25 edited 2006-03-15 23:25

  Thanks for all the help.
  
  I think Derek is right, the bot can't turn the servos and display the heading at the same time.
  
  Chris, I did the debug at the begining and at the end of each subroutines and it runs through the program with no problem. The pauses are for the LCD to stay on so that you can read the message displayed. This was a great learning experience!
  
  I moved the code for displaying the heading so that when the bot detects an object it stops, then displays the heading and continues to backup.