Calling Variables in Cogs
HayONU
Posts: 3
Are there any limitations to calling methods from one cog to another and are there any limitations to calling variables throughout the program?
We have IR sensors with an ADC that are supposed to be on a separate cog from the rest of the program so we will be able to continuously monitor them. Our main code will determine what to do once the information is gathered from the ADC. We are having trouble getting the value for each sensor variable to transfer to our main program.
Here is our code:
Post Edited (HayONU) : 4/13/2009 10:54:21 PM GMT
We have IR sensors with an ADC that are supposed to be on a separate cog from the rest of the program so we will be able to continuously monitor them. Our main code will determine what to do once the information is gathered from the ADC. We are having trouble getting the value for each sensor variable to transfer to our main program.
Here is our code:
{{
Pin connections:
P0 Program Switch 0 P21 7 Segment Display - B
P1 Program Switch 1 P22 7 Segment Display - A
P2 Program Switch 2 P23 7 Segment Display - DP
P3 Program Switch 3 P24 Spare
P4 Program Switch 4 P25 Relay
P5 ADC CLOCK P26 Relay
P6 ADC DOUT P27 Relay
P7 ADC CS TB1 P28 SCL EEPROM
P8 ADC CS TB2 P29 SDA EEPROM
P9 ADC CS TB3 P30 Programming Port
P10 ADC CS TB4 P31 Programming Port
P11 ADC CS TB5
P12 ADC CS TB6
P13 ADC CS TB7
P14 ADC CS TB8
P15 Relay
P16 7 Segment Display - G
P17 7 Segment Display - F
P18 7 Segment Display - E
P19 7 Segment Display - D
P20 7 Segment Display - C
}}
CON
_clkmode = xtal1 + pll16x ' enable external clock and pll times 16
_xinfreq = 5_000_000 ' set frequency to 5 MHZ
ON = 1
OFF = 0
OUTPUT = 1
INPUT = 0
'Seven Segment Display Pin Numbers.
DISA = 22
DISB = 21
DISC = 20
DISD = 19
DISE = 18
DISF = 17
DISG = 16
'EEPROM Pin Numbers.
SCL = 28
SDA = 29
'Program Switches
PZERO = 0
PONE = 1
PTWO = 2
PTHREE = 3
PFOUR = 4
'Analog to Digital Converter
ADC_CLK = 5
ADC_DIN = 6
ADC_CS5 = 7 '
ADC_CS6 = 8
ADC_CS7 = 9
ADC_CS8 = 10
ADC_CS9 = 11
ADC_CS10 = 12
ADC_CS11 = 13
ADC_CS12 = 14
var
long front_right
long front_left
long back_right
long back_left
long rightside_front
long rightside_back
long leftside_front
long leftside_back
long inc
long counter
long stack[noparse][[/noparse]20]
long sensor
pub main
i_o_setup
cognew(Read_IR_Sensor,@stack)
waitcnt(40_000_000+cnt)
REPEAT
IF INA[noparse][[/noparse]PZERO]== 0
Outa[noparse][[/noparse]16..22]:= %0111111
waitcnt(80_000_000+cnt)
HeadtoHead
ELSEIF INA[noparse][[/noparse]PONE]== 0
Outa[noparse][[/noparse]16..22]:= %0000110
waitcnt(80_000_000+cnt)
BacktoBack
ELSEIF INA[noparse][[/noparse]PTWO]== 0
Outa[noparse][[/noparse]16..22]:= %1011011
waitcnt(80_000_000+cnt)
SidetoSideOppDir
ELSEIF INA[noparse][[/noparse]PTHREE]== 0
Outa[noparse][[/noparse]16..22]:= %1001111
waitcnt(80_000_000+cnt)
SidetoSideSameDir
ELSEIF INA[noparse][[/noparse]PFOUR]== 0
Outa[noparse][[/noparse]16..22]:= %1100110
Pub HeadtoHead
Repeat
case front_left ' front_right 'If detected stay full speed
0..440: 'displays a zero
outa[noparse][[/noparse]16..22]:= %0111111
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
441..880: 'displays a one
Outa[noparse][[/noparse]16..22]:= %0000110
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
881..1320: 'displays a two
Outa[noparse][[/noparse]16..22]:= %1011011
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
1321..1760: 'displays a three
Outa[noparse][[/noparse]16..22]:= %1001111
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
1761..4095: 'displays a four
Outa[noparse][[/noparse]16..22]:= %1100110
outa[noparse][[/noparse]15]:=0
outa[noparse][[/noparse]25]:=0
other: 'displays a five
Outa[noparse][[/noparse]16..22]:= %1101101'
return
Pub BacktoBack
Repeat
case back_left 'or back_right 'If detected stay full speed
0..440: 'displays a zero
outa[noparse][[/noparse]16..22]:= %0111111
outa[noparse][[/noparse]27]:=0
outa[noparse][[/noparse]26]:=0
441..880: 'displays a one
Outa[noparse][[/noparse]16..22]:= %0000110
outa[noparse][[/noparse]27]:=0
outa[noparse][[/noparse]26]:=0
881..1320: 'displays a two
Outa[noparse][[/noparse]16..22]:= %1011011
outa[noparse][[/noparse]27]:=0
outa[noparse][[/noparse]26]:=0
1321..1760: 'displays a three
Outa[noparse][[/noparse]16..22]:= %1001111
outa[noparse][[/noparse]27]:=0
outa[noparse][[/noparse]26]:=0
1761..4095: 'displays a four
Outa[noparse][[/noparse]16..22]:= %1100110
outa[noparse][[/noparse]27]:=0
outa[noparse][[/noparse]26]:=0
other: 'displays a five
Outa[noparse][[/noparse]16..22]:= %1101101'
return
Pub SidetoSideOppDir
'Repeat
'Go backward 1 sec
'Spin to the right 10 degrees
'If object detected
'OUTA[noparse][[/noparse]27]:=0 full speed ahead
'OUTA[noparse][[/noparse]27]:=0
'elseif spin 10 degrees to the right
return
Pub SidetoSideSameDir
return
PUB Read_IR_Sensor
dira[noparse][[/noparse]0..4]:= %00000 'Program Switches Output
dira:= 1 'ADC Clock Output
dira[noparse][[/noparse]6]:= 0 'ADC Data IN Input
dira[noparse][[/noparse]7..14]:= %11111111 'ADC Converters Output
dira[noparse][[/noparse]15]:= 1 'Relay Output
dira[noparse][[/noparse]16..23]:= %11111111 'Seven Segment Display Output
dira[noparse][[/noparse]25..27]:= %111 'Relays Output
OUTA[noparse][[/noparse]15]:=1
OUTA[noparse][[/noparse]25..27]:= %111
OUTA[noparse][[/noparse]ADC_CS5]:=1
OUTA[noparse][[/noparse]ADC_CS6]:=1
OUTA[noparse][[/noparse]ADC_CS7]:=1
OUTA[noparse][[/noparse]ADC_CS8]:=1
OUTA[noparse][[/noparse]ADC_CS9]:=1
OUTA[noparse][[/noparse]ADC_CS10]:=1
OUTA[noparse][[/noparse]ADC_CS11]:=1
OUTA[noparse][[/noparse]ADC_CS12]:=1
front_right:=0
front_left:=0
back_right:=0
back_left:=0
rightside_front:=0
rightside_back:=0
leftside_front:=0
leftside_back:=0
repeat
outa[noparse][[/noparse]23]:=1
waitcnt(80_000_000+cnt)
leftside_front:=read_adc(ADC_CS5)
front_left:=read_adc(ADC_CS6)
leftside_back:=read_adc(ADC_CS7)
back_left:=read_adc(ADC_CS8)
back_right:=read_adc(ADC_CS9)
rightside_back:=read_adc(ADC_CS10)
rightside_front:=read_adc(ADC_CS11)
front_right:=read_adc(ADC_CS12)
outa[noparse][[/noparse]23]:=0
waitcnt(80_000_000 + cnt)
PUB read_adc(CS_PIN)
'All IR Sensors
OUTA[noparse][[/noparse]ADC_CLK]:=0 'ADC Clock off
OUTA[noparse][[/noparse]CS_PIN]:=0 'Bring Chip Select low (active)
repeat 5
counter:=cnt 'just a delay, no other purpose
OUTA[noparse][[/noparse]ADC_CLK]:=!OUTA[noparse][[/noparse]ADC_CLK] 'ADC Clock on
counter:=cnt 'just a delay, no other purpose
inc:=11 'start at 11 and go to 0, 12 bits
sensor:=0 'initialize the variable
repeat 12 'repeating 12 times because there are 12 bits that we are shifting in
OUTA[noparse][[/noparse]ADC_CLK]:=0 'ADC Clock off
counter:=cnt 'just a delay, no other purpose
if (INA[noparse][[/noparse]ADC_DIN]==1) 'if the bit is a one
sensor:=(sensor+(1<<inc)) 'adds the decimal value of the binary bit using <<inc (first bit is 2048, second 1024, etc)
inc:=inc-1 'decrement the inc variable
OUTA[noparse][[/noparse]ADC_CLK]:=1 'ADC Clock on
counter:=cnt 'just a delay, no other purpose
'OUTA[noparse][[/noparse]ADC_CLK]:=1 'ADC Clock off
OUTA[noparse][[/noparse]CS_PIN]:=1 'Bring Chip Select high (inactive)
return sensor
PUB i_o_setup
dira[noparse][[/noparse]0..4]:= %00000 'Program Switches Output
dira:= 1 'ADC Clock Output
dira[noparse][[/noparse]6]:= 0 'ADC Data IN Input
dira[noparse][[/noparse]7..14]:= %11111111 'ADC Converters Output
dira[noparse][[/noparse]15]:= 1 'Relay Output
dira[noparse][[/noparse]16..23]:= %11111111 'Seven Segment Display Output
dira[noparse][[/noparse]25..27]:= %111 'Relays Output
OUTA[noparse][[/noparse]15]:=1
OUTA[noparse][[/noparse]25..27]:= %111
OUTA[noparse][[/noparse]ADC_CS5]:=1
OUTA[noparse][[/noparse]ADC_CS6]:=1
OUTA[noparse][[/noparse]ADC_CS7]:=1
OUTA[noparse][[/noparse]ADC_CS8]:=1
OUTA[noparse][[/noparse]ADC_CS9]:=1
OUTA[noparse][[/noparse]ADC_CS10]:=1
OUTA[noparse][[/noparse]ADC_CS11]:=1
OUTA[noparse][[/noparse]ADC_CS12]:=1
return
Post Edited (HayONU) : 4/13/2009 10:54:21 PM GMT
Comments
-Phil
2) There are no limits that I know of regarding calling methods within one object (file). There are also no limits regarding the use of global variables throughout one object (file). The only limitations have to do with calling from one object to another. There is no direct means to access variables in one object from another. You can access named constants and PUBlic methods from another object using the name of the object (object#constant and object.method).
3) In an example as long and complex as yours, you really have to be much more specific about what's happening or not happening. It helps a lot, if possible, to shorten your program by eliminating things not necessary to illustrate what's happening.
two things:
1.) the codeline DIRA := 1 seems strange to me
there is no IO-Pin specified like DIRA[noparse][[/noparse]17] := 1
2.) to test if the VARIABLES work OK modify your read_adc-method
that it returns a HARDCODED value
f.e. simple the adc_channel-number which is the parameter
so ONLY for this debugging add a line of code
If this is working properly you know it is NOT the variable
As you are working with 80MHz
a delay of 80_000_000 means 1 second
replace the codelines
with
best regards
Stefan
It's the same as
DIRA[noparse][[/noparse]0] := 1
But I guess here it is simply the formatting-problem "[noparse][[/noparse] 5 ]" is taken as font-size, if you don't have spaces between [noparse][[/noparse] and 5 and ].
For better reading it's of course OK to have several dira assignments, but you can do it readable in one command-line as well:
That's readable and does not need as much memory.
Why don't you call the i_o_setup in Read_IR_Sensor as well? At a first glance, the setup-code in Read_IR_Sensor is doing the same.
In your original post you state: "Are there any limitations to calling methods from one cog to another ..."
If your program is running in COG 1 you can't call methods in COG 2 from there. If you call a method in COG 1 it will also run in COG 1. If you want to run functions in COG 2 triggered by COG 1 you need a variable that both use. COG 1 writes the number of the command into it and COG 2 polls the variable to see if it should do something setting the value to 0 when it's done. So, COG 1 can wait for it or at leas wait until writing the next command value.
What do you mean with 'calling variables'?
All the methods like BackToBack, HeadToHead ... are endless loops. As they all run in one single COG, this COG will be blocked. Maybe what you intented to do was:
Main program in COG 1
Start sensor reading in COG 2
repeat reading the·program switches
->·· if program switches·set,·start the·according method in COG 3 (using COGINIT)
Problem here might be that COGINIT will stop the previous method wherever it was. Depending on the functionality, there might be a need to synchronize that, so that the method is stopped at a known place.
Post Edited (MagIO2) : 4/14/2009 8:15:12 AM GMT