problems with repeat and quit

Comments

• Stan671 Posts: 103

  2007-02-27 16:34 edited 2007-02-27 16:34

  repeat 
    ShoulderServo1 
    if ticks1 == 96 
      QUIT 
  
    ShoulderServo2 
    if ticks2 == 64 
      QUIT 
  
    ElbowServo3 
    if ticks3 == 4 
      QUIT
  

  
  Nomad, I am not sure what you expect to happen here.· Effectively, with the three IF statements·and QUITs, if ticks1 == 96 OR ticks2 == 64 OR ticks3 == 4, then the entire REPEAT loop will stop.· That is the way it is supposed to work.
  
  ·

  cognew(ShoulderServo1,@cogStack1) 
  cognew(ShoulderServo2,@cogStack2) 
  cognew(ElbowServo3,@cogStack3)
  

  
  I am not sure why you are kicking off these three methods to thier own cogs when each method only runs once and then stops.· Usually when something is launched in a new cog, it is something that runs continously by itself until it's job is done.
  
  Later, in your main routine, you run these methods again.· I would think it is bad form to run a method in a new cog and also run it in your main routine.· I think you·are misunderstanding how new cogs are most effectively used.· Perhaps you mean to do something more like this:
  
  

  PUB Main 
    Init 
  
    cognew(ShoulderServo1,@cogStack1) 
    cognew(ShoulderServo2,@cogStack2) 
    cognew(ElbowServo3,@cogStack3) 
  
    zeroPosition 
  
    repeat 
  
   
  ....................... 
  
  PUB ShoulderServo1 ' generate servopulse Servo1 
  
   
    repeat 96
      outa[noparse][[/noparse]2]~~ 
      waitcnt (timebase += pulsetime1) 
      outa[noparse][[/noparse]2]~ 
  
      pulsetime1 += (clkfreq / 100_000) 
      new_periode1 := periode1 - pulsetime1 
      waitcnt (timebase += new_periode1) 
  
  
  PUB ShoulderServo2 ' generate servopulse Servo2 
  
   
    repeat 64
      outa[noparse][[/noparse]3]~~ 
      waitcnt (timebase += pulsetime2) 
      outa[noparse][[/noparse]3]~ 
  
   
      pulsetime2 += (clkfreq / 100_000) 
      new_periode2 := periode2 - pulsetime2 
      waitcnt (timebase += new_periode2) 
  
  
  PUB ElbowServo3 ' generate servopulse Servo3 
  
   
    repeat 4
      outa[noparse][[/noparse]4]~~ 
      waitcnt (timebase += pulsetime3) 
      outa[noparse][[/noparse]4]~ 
  
      pulsetime3 -= (clkfreq / 100_000) 
      new_periode3 := periode3 - pulsetime3 
      waitcnt (timebase += new_periode3) 
  
  
  

  
  This way, each cog runs a method that moves the servo to a specific spot and then stops.· The main routine really just does the initialization and then lauches the three cogs which move the three parts of the arms simultanously and independently.
  
  ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
  Stan Dobrowski
  
  Post Edited (Stan671) : 2/27/2007 4:50:31 PM GMT
• Mike Green Posts: 23,101

  2007-02-27 16:39 edited 2007-02-27 16:39

  You're executing two copies of each of the routines (ShoulderServo1,ShoulderServo2,ElbowServo3) at the same time, probably trying to use the same variables from each copy (one called with COGNEW and one called directly from your main program.
  
  I think you have to back up and think about what you're trying to do overall. This is way too complicated for what you're probably trying to do.
  
  Have you considered using one of the servo control objects in the Propeller Object Exchange? The Servo32 object will handle the control of up to 32 servos and let the rest of your program deal with the higher level control issues.
• James Long Posts: 1,181

  2007-02-27 16:54 edited 2007-02-27 16:54

  I see.....he is trying to implement all three servos at the same time. Like a simultaneous move. If he does one servo at a time..the move will not be simultaneous.
  
  I don't know anything about the object Mike mentioned...but they should be able to handle simultaneous moves, but I'm not sure.
  
  
  James L
• Mike Green Posts: 23,101

  2007-02-27 17:04 edited 2007-02-27 17:04

  James,
  Both the Servo32 (in assembly) and Servo4 (in Spin) objects do essentially simultaneous movement. There may be some microseconds difference in time between the servo control pulses for each servo, but servo response time is on the order of milliseconds.
• nomad Posts: 276

  2007-02-28 11:45 edited 2007-02-28 11:45

  hi
  thanks verry match for all the solutions.
  now, i think again and testing the stuff
  thanks
  regards nomad
• nomad Posts: 276

  2007-02-28 12:35 edited 2007-02-28 12:35

  hi
  result of my testings
  1)
  
  PUB Main
  
  Init
  
  cognew(ShoulderServo1,@cogStack1)
  cognew(ShoulderServo2,@cogStack2)
  cognew(ElbowServo3,@cogStack3)
  
  zeroPosition
  
  ShoulderServo1
  ShoulderServo2
  ElbowServo3
  
  PUB ShoulderServo1
  repeat 96
  ......
  
  PUB ShoulderServo2
  repeat 64
  .....
  
  PUB ElbowServo3
  repeat 8
  .............
  
  Result: the servos runs one after the other
  bad...
  
  2)
  PUB Main
  
  Init
  
  cognew(ShoulderServo1,@cogStack1)
  cognew(ShoulderServo2,@cogStack2)
  cognew(ElbowServo3,@cogStack3)
  
  zeroPosition
  
  repeat
  if ticks1 < 96
  ShoulderServo1
  
  if ticks2 < 64
  ShoulderServo2
  
  if ticks3 < 8
  ElbowServo3
  
  
  PUB ShoulderServo1
  ......
  ticks++
  
  PUB ShoulderServo2
  ......
  ticks2++
  
  Pub ElbowServo3
  ......
  ticks3++
  
  Result: all 3 servos running simultan.
  Fine.
  
  
  this is what i would.
  then i can program more complex and dynamical
  behaveiors.
  
  when i have the whole sequence of a leg movement then i call back....
  
  regards
  nomad
• Mike Green Posts: 23,101

  2007-02-28 14:11 edited 2007-02-28 14:11

  You will still get into trouble the way you've organized the program. If ticks1 < 96, you will execute one copy of ShoulderServo1 when another copy is executing in a separate cog. This is not what you want. The same problem occurs with ticks2 < 64 and ticks3 < 8.
• nomad Posts: 276

  2007-03-01 08:30 edited 2007-03-01 08:30

  hi mike
  thanks for your comment.
  
  look what i want, is that the servos
  of the leg move on time (parallel
  and 1 servo = 1 cog) running.
  
  yesterday i have construct from
  a program with "servo32"
  its running but (seriell and only
  1 cog).
  
  have you a idea, that i can move
  the 3 servos with 3 cogs (with different moveDirections,
  speed, and counter) in parallel???
  
  for hints, tips source-snippets
  i am grateful.
  
  code:
  <<
  *******************************************************************
  Lynxmotion Extreme Hepapod III Simple Walking Routine using
  Servo32.Spin Object
  Chassis & 6 legs:
  
  
  ····························
  ····························· FRONT
  ······················· ==================
  ··········· LEG #1····· |··············· |······ LEG # 2
  ···· Ankle·· Knee·· Hip |··············· | Hip··· Knee··· Ankle
  ······················· |··············· |
  ······················· |··············· |
  ······················· |··············· |
  
  
  CON
  · _CLKMODE = RCFAST············· ' ex XTAL1 + PLL16X···· 'Set to ext crystal, 16x PLL, 80MHz Clock
  '· _XINFREQ = 5_000_000········· ' Frequency on XIN pin is 5 MHz
  
  ··· Leg1_Hip·· = 2············ ' Asignment of Servos to Pin Outputs of the Propeller
  ··· Leg1_Knee· = 3
  ··· Leg1_Ankle = 4
  
  ··
  
  VAR
  ··· LONG Leg1_Hip_ADJ··············· ' Variables used to fine tune/Adjust the position of every servo
  ··· LONG Leg1_Knee_ADJ·············· ' It can also be used to vary to vary height of the Hexapod
  ··· LONG Leg1_Ankle_ADJ············· ' Or shape of the legs during program execution
  
  ·
  OBJ
  · SERVO : "Servo32"
  
  PUB Hexapod_III | i
  
  ··· Leg1_Hip_ADJ·· :=·· 0·················· ' These values depend of the particular installation of the
  ··· Leg1_Knee_ADJ· :=· 35·················· ' Servos in every Hexapod... not every servo centers at exactly
  ··· Leg1_Ankle_ADJ :=· 50·················· ' the same location.. so these values help in adjusting the
  ··········································· ' center when a 1.5 ms pulse is sent to the servo
  ··
  ·························
  ··· 'Preset Servo's you want to use to center position
  
  ··· SERVO.Set(Leg1_Hip,· 1500 + Leg1_Hip_ADJ)
  ··· SERVO.Set(Leg1_Knee, 1500 + Leg1_Knee_ADJ)
  ··· SERVO.Set(Leg1_Ankle,1500 + Leg1_Ankle_ADJ)
  
  ·
  ··· 'Note: Servo pins that will be used must be preset before running "SERVO.Start".
  ··· '····· This is because the I/O direction is set here and is only executed
  ··· '····· at the beginning of "SERVO.Start".· Servo pins that aren't used will remain
  ··· '····· in their original direction state.
  
  ·SERVO.Start········································ 'Start Servo handler
  
  
  ·SERVO.Set(Leg1_Hip, 1650 + Leg1_Hip_ADJ)············ ' Reconfiguration of the Hips for
  
  ·repeat·····················
  ·· repeat i from 1500 to 900································ ' Raise Legs 1, 3 and 5···········
  ···· SERVO.Set(Leg1_Knee,······· i + Leg1_Knee_ADJ)
  ···· waitcnt (10_000 + cnt)
  ·································
  ·· repeat i from 1650 to 1350································ ' Move Hips
  ···· SERVO.Set(Leg1_Hip,········ i + Leg1_Hip_ADJ)
  ···· waitcnt (20_000 + cnt)
  
  ·· repeat i from 1500 to 900································ ' Move Ankle
  ···· SERVO.Set(Leg1_Ankle,········ i + Leg1_Ankle_ADJ)
  ···· waitcnt (20_000 + cnt)
  ··
  
  ·························
  ·· repeat i from 900 to 1500································· ' Lowering of Legs 1, 3 and 5···
  ···· SERVO.Set(Leg1_Knee,······· i + Leg1_Knee_ADJ)
  ···· waitcnt (50_000 + cnt)
  ·····························
  ·· repeat i from 1650 to 1350································· ' Move Hips···
  ···· SERVO.Set(Leg1_Hip, 3000· - i + Leg1_Hip_ADJ)
  ···· waitcnt (20_000 + cnt)
  
  ·· repeat i from 900 to 1500································· ' Lowering of Legs 1, 3 and 5···
  ···· SERVO.Set(Leg1_Ankle,······· i + Leg1_Ankle_ADJ)
  ···· waitcnt (50_000 + cnt)
  ····································
  ·
  ·····················
  >>
  
  regards
  nomad
• nomad Posts: 276

  2007-03-01 09:42 edited 2007-03-01 09:42

  hi mike
  
  here my newest code (from Beau's Servo32_Demo.spin
  
  now its parallel running , but i have (i mean only one cog)?
  
  its possible, that the code can react dynamical on enviroment-datas
  
  (sensorDatas)??? z.B if the Foot have contact with the floor => then
  
  stop the whole stuff).
  
  regards
  
  nomad
  
  <<
  
  {
  · Servo32_Demo1.spin
  }
  CON
  ···· _CLKMODE = RCFAST
  
  ··· PanServo1 = 2
  
  ··· PanServo2 = 3
  ··· PanServo3 = 4
  
  ···
  OBJ
  · SERVO : "Servo32"
  
  PUB Servo32_DEMO | temp
  
  ··· 'Preset Servo's you want to use to center position
  ··· SERVO.Set(PanServo1,1500)
  ··· SERVO.Set(PanServo2,1500)
  ··· SERVO.Set(PanServo3,1500)
  ··
  
  ··· SERVO.Start········································ 'Start Servo handler
  ··
  ··· repeat
  
  ··· repeat temp from 1000 to 2000
  ····· waitcnt (cnt+125_000)
  ····· SERVO.Set(PanServo1,temp)
  ····· SERVO.Set(PanServo2,temp)
  ····· SERVO.Set(PanServo3,3000-temp)
  
  >>