Troubles with ServoControl with PushButtons & RCTIME

nomad · 2008-08-20 12:17

hi

I have this problem with control 3 Servos with
6-Push_Buttons and additionally i want the
values of 2 Pressure-Sensors.

Errors:
If all 4 functions run thus:
- ShoulderServo1
- ShoulderServo2
- KneeServo3
- RCTime_Read
Does not react the program any longer no servo

actions, no output of the pressure sensors.
Are if however the servo functions switched off
The output of RCTIME is OK
If RCTIME is switched off,
those run Servos.
I already used the normal RCTIME function

(without BS2-Funktionen).
Same result.
I do not have notion which am there the matter.

Are grateful around each assistance .
Regard
nomad

the program:

{ test.spin 
   
  for  test-program with PropellerProtoBoard                     
       - Version 10 for ProtoBoard                               
       - ServoControl of 1 Leg with 3 Servos                     
       - with Adjustments for Neutral-Standings                
       - with PropTerminal witch PC_Text for Output                                                                      
  Contributions:        
  - parallax.com : http://www.parallax.com    
    PropTerminal : www.insonix.ch (c)                                                   
 
  dd. 20.08.2008

----------------------------------------------------------------------------
}
CON 
  _CLKMODE = XTAL1 + PLL16X     ' Set to ext crystal, 16x PLL, 80MHz Clock 
  _XINFREQ = 5_000_000          ' Frequency on XIN pin is 5 MHz

  ' for BS2-Functions
  RC1 = 6         ' PressureSensor Pin 6 for Leg1 sensorPin BS2  red
  RC2 = 7         ' PressureSensor Pin 7 for Leg2                black

OBJ
  BS2  : "BS2_Functions"     ' Create BS2 Object for Pressure                       
  TV    : "PC_Text"           'You can also use TV_Text or VGA_Text objects
    
VAR
 
  LONG pulsetime1, pulsetime2, pulsetime3         
  LONG periode1, periode2, periode3               
  LONG new_periode1, new_periode2, new_periode3   

  LONG timebase

  
  LONG RCVal_1     ' rawForce Leg1
  LONG RCVal_2     ' rawForce Leg2  
     

PUB Main
  ' Initialize BS2 Object, Rx and Tx pins for DEBUG  
  BS2.start(31,30)                            

  'start the terminal
  TV.start(12)

  Init
  Adjustments
    
  repeat

    ShoulderServo1
    ShoulderServo2
    KneeServo3
   
    RCTime_Read
        
PUB Init

  ' 20ms NOK not smoothly ->  periode1 := ((clkfreq / 100_000) * 2000)

  periode1 := ((clkfreq / 100_000) * 500)        '  5ms  LEG 1      
  periode2 := ((clkfreq / 100_000) * 500)         
  periode3 := ((clkfreq / 100_000) * 500)

  pulsetime1 := ((clkfreq / 100_000) * 150)      ' 1,5ms  
  pulsetime2 := ((clkfreq / 100_000) * 150)        
  pulsetime3 := ((clkfreq / 100_000) * 150)
  
  dira[noparse][[/noparse]0]~~   ' Pin00 set output  servoSignal 1   Leg_1
  outa[noparse][[/noparse]0]~    ' Pin00 set low 
  dira~~   ' Pin01 set output  servoSignal 2 
  outa~    ' Pin01 set low
  dira~~   ' Pin02 set output  servoSignal 3
  outa~    ' Pin02 set low

  dira[noparse][[/noparse]8]~    ' Pin08 set input (taster s1) Shoulder1_Servo1 Swing 
  dira[noparse][[/noparse]9]~    ' Pin09 set input (taster s2)
  dira[noparse][[/noparse]10]~   ' Pin10 set input (taster s3) Shoulder2_Servo2 Up/Down  
  dira[noparse][[/noparse]11]~   ' Pin11 set input (taster s4)
  dira[noparse][[/noparse]12]~   ' Pin12 set input (taster s5) Knee3_Servo3 (Up/Down) 
  dira[noparse][[/noparse]13]~   ' Pin13 set input (taster s6)

  timebase := cnt

PUB Adjustments
  ' Leg1
  pulsetime1 := 120_000 - 9_000  ' IS KNEESERVO_3 NOT SHOULDERSERV0_1  
  pulsetime2 := 120_000 + 4_800  ' is shoulderServo2
  pulsetime3 := 120_000 + 4_800  ' IS SHOULDERSERVO_1


PUB RCTime_Read
  'repeat
    dira[noparse][[/noparse]RC1]~~                                          ' RC output
    outa[noparse][[/noparse]RC1]:=1                                         ' Set High
    BS2.Pause(10)                                        ' Allow charge
    RCVal_1 := BS2.RCTime(6,1)                            ' Get RC Time
    
    BS2.Pause(100)
        
    dira[noparse][[/noparse]RC2]~~                                          ' RC output
    outa[noparse][[/noparse]RC2]:=1                                         ' Set High
    BS2.Pause(10)                                        ' Allow charge
    RCVal_2 := BS2.RCTime(7,1)                           ' Get RC Time     

    TV.out($0A)          '$0A = set X position (X follows)
    TV.out(0)            ' xpos
    TV.out($0B)          '$0B = set Y position (Y follows)
    TV.out(7)            'ypos
    TV.str(string("PressureLeg1:"))
    TV.out(" ")

    TV.out($0A)
    TV.out(16) 
    TV.out($0B)
    TV.out(7)
    TV.dec(RCVal_1)
    TV.out(" ")
    TV.out($0D)

    TV.out($0A)          '$0A = set X position (X follows)
    TV.out(0)            ' xpos
    TV.out($0B)          '$0B = set Y position (Y follows)
    TV.out(8)            'ypos
    TV.str(string("PressureLeg2:"))
    TV.out(" ")

    TV.out($0A)
    TV.out(16) 
    TV.out($0B)
    TV.out(8)
    TV.dec(RCVal_2)
    TV.out(" ")
    TV.out($0D)    
  
    BS2.Pause(100)
     

PUB ShoulderServo1  ' generate servopulse  Servo1  (swing)  1 Leg                               
  outa[noparse][[/noparse]0]~~
  waitcnt (timebase += pulsetime1) 
  outa[noparse][[/noparse]0]~

  if ina[noparse][[/noparse]8] == 1                        
    pulsetime1 += (clkfreq / 100_000)

    TV.out($0A)          '$0A = set X position (X follows)
    TV.out(0)            ' xpos
    TV.out($0B)          '$0B = set Y position (Y follows)
    TV.out(0)            'ypos
    TV.str(string("Pulsetime1:"))
    TV.out(" ")

    TV.out($0A)
    TV.out(16) 
    TV.out($0B)
    TV.out(0)
    TV.dec(pulsetime1)
    TV.out(" ")
    TV.out($0D)
   
  if ina[noparse][[/noparse]9] == 1
    pulsetime1 -= (clkfreq / 100_000)
    
    TV.out($0A)          '$0A = set X position (X follows)
    TV.out(0)            ' xpos
    TV.out($0B)          '$0B = set Y position (Y follows)
    TV.out(0)            'ypos
    TV.str(string("Pulsetime1:"))
    TV.out(" ")

    TV.out($0A)
    TV.out(16) 
    TV.out($0B)
    TV.out(0)
    TV.dec(pulsetime1)
    TV.out(" ")
    TV.out($0D)
       
  new_periode1 := periode1 - pulsetime1              'periodendauer - pulsdauer
  waitcnt (timebase += new_periode1)                 'wait for periode end
  
PUB ShoulderServo2    ' generate servopulse  Servo2                                   
  outa~~                                          
  waitcnt (timebase += pulsetime2)
  outa~
  
  if ina[noparse][[/noparse]10] == 1
     pulsetime2 -= (clkfreq / 100_000)
     
     TV.out($0A)          '$0A = set X position (X follows)
     TV.out(0)            ' xpos
     TV.out($0B)          '$0B = set Y position (Y follows)
     TV.out(1)            'ypos
     TV.str(string("Pulsetime2:"))
     TV.out(" ")

     TV.out($0A)
     TV.out(16) 
     TV.out($0B)
     TV.out(1)
     TV.dec(pulsetime2)
     TV.out(" ")
     TV.out($0D)  ' $0D = return
          
  if ina[noparse][[/noparse]11] == 1                                      
    pulsetime2 += (clkfreq / 100_000)

    TV.out($0A)          '$0A = set X position (X follows)
    TV.out(0)            ' xpos
    TV.out($0B)          '$0B = set Y position (Y follows)
    TV.out(1)            'ypos
    TV.str(string("Pulsetime2:"))
    TV.out(" ")
    
    TV.out($0A)
    TV.out(16) 
    TV.out($0B)
    TV.out(1)
    TV.dec(pulsetime2)
    TV.out(" ")
    TV.out($0D)
        
  new_periode2 := periode2 - pulsetime2               
  waitcnt (timebase += new_periode2)                  
  
PUB KneeServo3   ' generate servopulse  Servo3
  outa~~                                          
  waitcnt (timebase += pulsetime3) 
  outa~

  if ina[noparse][[/noparse]12] == 1                                      
    pulsetime3 -= (clkfreq / 100_000)

    TV.out($0A)          '$0A = set X position (X follows)
    TV.out(0)            ' xpos
    TV.out($0B)          '$0B = set Y position (Y follows)
    TV.out(2)            'ypos
    TV.str(string("Pulsetime3:"))
    TV.out(" ")

    TV.out($0A)
    TV.out(16)
    TV.out($0B)
    TV.out(2) 
    TV.dec(pulsetime3)
    TV.out(" ")
    TV.out($0D)
  if ina[noparse][[/noparse]13] == 1                                      
    pulsetime3 += (clkfreq / 100_000)

    TV.out($0A)          '$0A = set X position (X follows)
    TV.out(0)            ' xpos
    TV.out($0B)          '$0B = set Y position (Y follows)
    TV.out(2)            'ypos
    TV.str(string("Pulsetime3:"))
    TV.out(" ")
     
    TV.out($0A)
    TV.out(16) 
    TV.out($0B)
    TV.out(2)       
    TV.dec(pulsetime3)
    TV.out(" ")
    TV.out($0D)
    
  new_periode3 := periode3 - pulsetime3                ' periodendauer - pulsdauer
  waitcnt (timebase += new_periode3)                   ' wait for periode end

{--------------------------------------------------------------------------------------}

Beau Schwabe · 2008-08-20 23:20

nomad,

You could always use another cog to manage your servos, but if you want to keep·the servos, and sensors under the same "roof", then what you might consider is combining all of your servo functions, so that they all send a·pulse at the same time, then as there value dictates, each one would drop off in turn.· (A maximum of 2ms) ... Then, go ahead and pre-calculate the next period 50ms away, but don't wait for it at the end of the servo routine.· Instead use that time to read your sensors,·etc.· .... At the 'beginning' of your servo routine is then where you should wait for the next servo interval.· The initial loop through the routine·should be padded with some arbitrary number ahead of the clock counter that would equate·to something close to 50ms.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Beau Schwabe

IC Layout Engineer
Parallax, Inc.

nomad · 2008-08-21 07:05

hi beau
thanks for your answers.
today i make some experiments with your ideas.
excuse my bad english
thanks
regards
nomad

Chris Savage · 2008-08-22 14:27

Nomad,

Duplicate threads were removed (you had three). Please post follow ups in the same thread. It detracts from the flow of the thread if you keep starting over and it is against our forum guidelines.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Chris Savage
Parallax Engineering

nomad · 2008-08-23 07:12

hi chris
excuse my fault
regards
nomad

Troubles with ServoControl with PushButtons & RCTIME

Comments