Spin Code Help

p00ndawg · 2010-06-21 14:50

 

[b]pub forward
         ' forward movement

PulsOut(0, 1_600)
PulsOut(23, 1_600) [/b] 
                                 


pub right_turn

PulsOut(0, 1_300)
PulsOut(23, 1_620)
                      

pub left_turn

PulsOut(0, 1_620)
PulsOut(23, 1_300)

pub stop

PulsOut(23, 1_475)
PulsOut(0, 1_500)

pri Pause(duration)

  'This function pauses program execution for approximately [noparse][[/noparse]duration] micro seconds
  'so 1_000_000 would be approximately one second.  Doesnt account for instruction
  'execution time overhead.

  if duration < 381
    duration := 381             'lower bound limit. anything lower than this, we
                                'have to wait until the counter comes back around,
                                'which is MUCH longer than [noparse][[/noparse]duration].
  waitcnt(((clkfreq / 1_000_000) * duration) + cnt)

  
[b]pri PulsOut(pin, duration)

  'similar to the BS2 command.  This function pulses the [noparse][[/noparse]pin] for [noparse][[/noparse]duration].
  'This is extremely useful for controlling servos and speed controllers.
  
  dira[noparse][[/noparse]pin]~~      'make pin an output
  outa[noparse][[/noparse]pin]~~      'make pin go high            
  waitcnt(((clkfreq / 1_000_000) * duration) + cnt)  'pause execution
  outa[noparse][[/noparse]pin]~       'make pin go low
[/b]

pri pulsin(pin) : time | cnt1, cnt2

  dira[noparse][[/noparse]Pin]~                                                                    ' Make I/O Pin Input
  waitpne(0, |< Pin, 0)                                                         ' Wait For Pin To Go HIGH
  cnt1 := cnt                                                                   ' Store Current Counter Value
  waitpeq(0, |< Pin, 0)                                                         ' Wait For Pin To Go LOW 
  cnt2 := cnt 
  time := (||(cnt1 - cnt2) / (clkfreq / 1_000_000))

im using this for movement using the msr1 and the 2 hb 25's connected to two motors, although as another user mentioned to me my pulsout method gets stuck in a counter rollover.

I have used these variations of the pulsout method,

pub pulsout(pin, duration) 

  duration := (duration * (clkfreq / 1_000_000)) #> 381

  dira[noparse][[/noparse]pin]~~
  !outa[noparse][[/noparse]pin]
  waitcnt(duration)
  !outa[noparse][[/noparse]pin]

pub pulsout(pin, us)

  if (pin => 0) and (pin =< 31) and (us > 0)
    us := (clkfreq / 1_000_000 * us) #> 381
    outa[noparse][[/noparse]pin]~~
    !dira[noparse][[/noparse]pin]
    waitcnt(us + cnt) 
    !dira[noparse][[/noparse]pin]

with little success. The 2nd pulsout however, executes all the code I have set up it just doesnt actually move the wheels. The other versions tend to get stuck the first time I call forward and never continue.

Post Edited (p00ndawg) : 6/21/2010 5:21:27 PM GMT

Mike Green · 2010-06-21 15:02

I think your problem is that each pulsout routine you've shown has a major error in it.

In the first, you've got WAITCNT(duration). That can't work because WAITCNT doesn't use a duration, it uses an absolute time (system clock value). You'd have to use WAITCNT(cnt + duration).

In the second, you're toggling the I/O pin between high (1) and input. That would work if the I/O pin had a pulldown resistor, but I don't think that's the way things are set up.

p00ndawg · 2010-06-21 15:19

In the second method I tried

pub pulsout(pin, us)

if (pin => 0) and (pin =< 31) and (us > 0)
    us := (clkfreq / 1_000_000 * us) #> 381
   dira[noparse][[/noparse]pin]~~      'make pin an output
  outa[noparse][[/noparse]pin]~~      'make pin go high            
  waitcnt(us + cnt)  'pause execution
  outa[noparse][[/noparse]pin]~

same result as others.

Mike Green · 2010-06-21 15:26

You do need some delay between the pulses. I don't know what the minimum delay might be. You'll have to get that from the documentation or just experiment. I suspect that you need several milliseconds' delay at a minimum. Try a WAITCNT(CLKFREQ/100 + CNT) between PULSOUT calls.

p00ndawg · 2010-06-21 17:02

ok I got it working with the WAITCNT. It executes for awhile but eventually there is still a counter rollover and it gets stuck in my default call of the forward method.

pub forward 
'pin 0 = left wheel pin 23 = right wheel
WAITCNT(CLKFREQ/100 + CNT)
PulsOut(0, 1_600)
WAITCNT(CLKFREQ/100 + CNT)
PulsOut(23, 1_600)



pri pulsout(pin, us)

if (pin => 0) and (pin =< 31) and (us > 0)
  us := (clkfreq / 1_000_000 * us) #> 381
  dira[noparse][[/noparse]pin]~~      'make pin an output
  outa[noparse][[/noparse]pin]~~      'make pin go high            
  waitcnt(us + cnt)  'pause execution
  outa[noparse][[/noparse]pin]~

Post Edited (p00ndawg) : 6/21/2010 5:09:54 PM GMT

p00ndawg · 2010-06-21 18:53

pri pulsout(pin, us)

us := (clkfreq / 1_000_000 * us)

if (clkfreq / 1_000_000 * us) < 381
  us := 381
  dira[noparse][[/noparse]pin]~~      'make pin an output
  outa[noparse][[/noparse]pin]~~      'make pin go high
  waitcnt((clkfreq / 1_000_000 * us)  + cnt)  'pause execution
  outa[noparse][[/noparse]pin]~
  
else
  dira[noparse][[/noparse]pin]~~      'make pin an output
  outa[noparse][[/noparse]pin]~~      'make pin go high
  waitcnt(us + cnt)  'pause execution
  outa[noparse][[/noparse]pin]~

tried this as well, was sure it would work and it didnt. Still getting a massive stall in execution when waiting for the system counter.

StefanL38 · 2010-06-21 19:04

the minimum delay is 385 not 381

best regards

Stefan

p00ndawg · 2010-06-21 19:18

"This means the value of offset must always be at least 381 to avoid unexpectedly long delays."

I just pulled this quote from the propellor manual. is the manual wrong?

p00ndawg · 2010-06-21 21:18

PUB start
   
   servo.start  
   cognew(sensor_scan, @stack)
   cognew(movement_class,@stack1)
           


   
pub movement_class ' will scan and turn away else it will move forward with pulsout 1600
  
  forward
   
  repeat
  
    if inch1 < distance
       inches := inch1
       right_turn
       pause(758_333)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)     
    
    if inch2 < distance
       inches := inch2
       right_turn
       pause(379_166)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)     
      
    if inch3 < distance
      inches := inch3
      left_turn
      pause(2_275_000)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600) 
          
    if inch4 < distance
       inches := inch4
       left_turn
       pause(379_166)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600) 
                
    if inch5 < distance
       inches := inch5
       left_turn
       pause(758_333)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600) 
               
    if inch6 < distance_back
       inches := inch6
       left_turn
        pause(1_516_666)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)   
   
    if inch7 < distance_back
       inches := inch7
      left_turn
      pause(1_895_833) 
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)        

    if inch8 < distance_back
       inches := inch8
       left_turn  
        pause(2_275_000)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600) 
           
    if inch9 < distance_back
       inches := inch9
       right_turn
       pause(1_516_666)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)       
         
    if inch10 < distance_back
       inches := inch10
       right_turn
       pause(1_895_833)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)   
    

pub forward
 
'pin 0 = left wheel pin 23 = right wheel
pause(10_000)
PulsOut(0, 1_600)
pause(10_000)  
PulsOut(23, 1_600)

pub right_turn

pause(10_000)     
PulsOut(0, 1_300)
pause(10_000)  
PulsOut(23, 1_620)
                      

pub left_turn
pause(10_000)  
PulsOut(0, 1_620)
pause(10_000)  
PulsOut(23, 1_300)

pub stop

pause(10_000)  
PulsOut(23, 1_475)
pause(10_000)  
PulsOut(0, 1_500)  


PUB sensor_scan  'scanning of ping sensors
     
  repeat
   inch1 := ping.Inches(pin1)                                            'change time to distance in inches 
   inch2 := ping.Inches(pin2)
   inch3 := ping.Inches(pin3)                                            'change time to distance in inches 
   inch4 := ping.Inches(pin4)
   inch5 := ping.Inches(pin5)                                            'change time to distance in inches 
   inch6 := ping.Inches(pin6)
   inch7 := ping.Inches(pin7)                                            'change time to distance in inches 
   inch8 := ping.Inches(pin8)
   inch9 := ping.Inches(pin9)                                            'change time to distance in inches 
   inch10 := ping.Inches(pin10)
  
                              
pri Pause(duration)

  'This function pauses program execution for approximately [noparse][[/noparse]duration] micro seconds
  'so 1_000_000 would be approximately one second.  Doesnt account for instruction
  'execution time overhead.
  
  if duration < 381
   duration := 381             'lower bound limit. anything lower than this, we
                                'have to wait until the counter comes back around,
                                'which is MUCH longer than [noparse][[/noparse]duration].
  waitcnt(((clkfreq / 1_000_000) * duration) + cnt)


pri PulsOut(pin, duration)

  'similar to the BS2 command.  This function pulses the [noparse][[/noparse]pin] for [noparse][[/noparse]duration].
  'This is extremely useful for controlling servos and speed controllers.
  'To constantly make a servo move, you have to constantly be calling this
  'function (I.E. you cant set a value and have the servo stay at that value)
  

pri pulsout(pin, us)

if (pin => 0) and (pin =< 31) and (us > 0)
  us := (clkfreq / 1_000_000 * us) #> 381
  dira[noparse][[/noparse]pin]~~      'make pin an output
  outa[noparse][[/noparse]pin]~~      'make pin go high            
  waitcnt(us + cnt)  'pause execution
  outa[noparse][[/noparse]pin]~

ok now im getting a little annoyed.
Here is my full code. Another one of my group members here came and loaded up his code which provided similar functionality to mine, using the pulsout and pause methods provided, and he got no code stalling.

is there something that anyone can quickly see that I am not?

Post Edited (p00ndawg) : 6/21/2010 10:25:29 PM GMT

hover1 · 2010-06-21 22:51

That's your FULL code? No VAR, CON, Object declarations?

p00ndawg said...

ok now im getting a little annoyed.
Here is my full code. Another one of my group members here came and loaded up his code which provided similar functionality to mine, using the pulsout and pause methods provided, and he got no code stalling.

is there something that anyone can quickly see that I am not?

p00ndawg · 2010-06-22 00:15

CON
_clkmode = xtal1 + pll16x      ' Crystal feedback & PLL multiplier
_xinfreq = 5_000_000

CON
pin1 = 1                       ' All the ping pins
pin2 = 2
pin3 = 3                       ' All the ping pins
pin4 = 4
pin5 = 5                       ' All the ping pins
pin6 = 6
pin7 = 7                       ' All the ping pins
pin8 = 8
pin9 = 9                       ' All the ping pins
pin10 = 10
distance = 18


VAR

  ' Global Variables:
  
  long inch1
  long inch2
  long inch3
  long inch4
  long inch5
  long inch6
  long inch7
  long inch8
  long inch9
  long inch10
long stack[noparse][[/noparse]20]
long stack1[noparse][[/noparse]20]
 
long inches
 
  
OBJ

  ping:  "Ping"
 servo : "servo32v5"


PUB start
   
   servo.start  
   cognew(sensor_scan, @stack)
   cognew(movement_class,@stack1)
           


   
pub movement_class ' will scan and turn away else it will move forward with pulsout 1600
  
  forward
   
  repeat
  
    if inch1 < distance
       inches := inch1
       right_turn
       pause(758_333)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)     
    
    if inch2 < distance
       inches := inch2
       right_turn
       pause(379_166)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)     
      
    if inch3 < distance
      inches := inch3
      left_turn
      pause(2_275_000)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600) 
          
    if inch4 < distance
       inches := inch4
       left_turn
       pause(379_166)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600) 
                
    if inch5 < distance
       inches := inch5
       left_turn
       pause(758_333)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600) 
               
    if inch6 < distance_back
       inches := inch6
       left_turn
        pause(1_516_666)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)   
   
    if inch7 < distance_back
       inches := inch7
      left_turn
      pause(1_895_833) 
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)        

    if inch8 < distance_back
       inches := inch8
       left_turn  
        pause(2_275_000)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600) 
           
    if inch9 < distance_back
       inches := inch9
       right_turn
       pause(1_516_666)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)       
         
    if inch10 < distance_back
       inches := inch10
       right_turn
       pause(1_895_833)
    else
      PulsOut(0, 1_600)
      PulsOut(23, 1_600)   
    

pub forward
 
'pin 0 = left wheel pin 23 = right wheel
pause(10_000)
PulsOut(0, 1_600)
pause(10_000)  
PulsOut(23, 1_600)

pub right_turn

pause(10_000)     
PulsOut(0, 1_300)
pause(10_000)  
PulsOut(23, 1_620)
                      

pub left_turn
pause(10_000)  
PulsOut(0, 1_620)
pause(10_000)  
PulsOut(23, 1_300)

pub stop

pause(10_000)  
PulsOut(23, 1_475)
pause(10_000)  
PulsOut(0, 1_500)  


PUB sensor_scan  'scanning of ping sensors
     
  repeat
   inch1 := ping.Inches(pin1)                                            'change time to distance in inches 
   inch2 := ping.Inches(pin2)
   inch3 := ping.Inches(pin3)                                            'change time to distance in inches 
   inch4 := ping.Inches(pin4)
   inch5 := ping.Inches(pin5)                                            'change time to distance in inches 
   inch6 := ping.Inches(pin6)
   inch7 := ping.Inches(pin7)                                            'change time to distance in inches 
   inch8 := ping.Inches(pin8)
   inch9 := ping.Inches(pin9)                                            'change time to distance in inches 
   inch10 := ping.Inches(pin10)
  
                              
pri Pause(duration)

  'This function pauses program execution for approximately [noparse][[/noparse]duration] micro seconds
  'so 1_000_000 would be approximately one second.  Doesnt account for instruction
  'execution time overhead.
  
  if duration < 381
   duration := 381             'lower bound limit. anything lower than this, we
                                'have to wait until the counter comes back around,
                                'which is MUCH longer than [noparse][[/noparse]duration].
  waitcnt(((clkfreq / 1_000_000) * duration) + cnt)


pri PulsOut(pin, duration)

  'similar to the BS2 command.  This function pulses the [noparse][[/noparse]pin] for [noparse][[/noparse]duration].
  'This is extremely useful for controlling servos and speed controllers.
  'To constantly make a servo move, you have to constantly be calling this
  'function (I.E. you cant set a value and have the servo stay at that value)
  

pri pulsout(pin, us)

if (pin => 0) and (pin =< 31) and (us > 0)
  us := (clkfreq / 1_000_000 * us) #> 381
  dira[noparse][[/noparse]pin]~~      'make pin an output
  outa[noparse][[/noparse]pin]~~      'make pin go high            
  waitcnt(us + cnt)  'pause execution
  outa[noparse][[/noparse]pin]~

this is all of it sorry

hover1 · 2010-06-22 00:48

In the future, you should·use the attachment manager and make an archive file with the propeller tool. That would include all the other objects used in your program.

Sometimes those other objects are changed by mistake, and render your program unusable. It would help to diagnose the problem.

Also, when posting code on the forum page, the forum software will sometimes corrupt the code when using the· "code tags".

Jim

·

Post Edited (hover1) : 6/22/2010 12:54:16 AM GMT

p00ndawg · 2010-06-22 00:54

oh ok thanks. Ill post one tomorrow morning, I am no longer at my lab.

Thanks for the tip.

John Abshier · 2010-06-22 00:57

I think you are refreshing the HB-25 too frequently. This is from the documentation:

There is a hold-off time of 5 ms where the HB-25 will ignore incoming pulses. As a result, the unit should
not be refreshed more frequently than about 5.25 ms + pulse time. Pulse time can be anywhere from
0.8 ms to 2.2 ms. If the HB-25 receives a pulse outside of this range, it will temporarily shut off the
motor until it receives a valid pulse.

We still don't have all of you code. distance_back is not defined. If all the ping distances are greater than distance/distance_back you will send pulses too fast to the HB-25s. Instead of the PulsOuts in the else sections, call Forward I would change Forward to

pub forward
'pin 0 = left wheel pin 23 = right wheel
PulsOut(0, 1_600)
PulsOut(23, 1_600)
pause(10_000)

John Abshier

Mike Green · 2010-06-22 00:57

Try making the stack areas bigger. 20 may be marginal. Try at least 30.

Make the minimum pulse width or minimum pause = 400. Servos won't respond to anything less than 500us anyway.

In what you've posted you have two declarations for pulsout since Spin ignores case. I don't know why the compiler didn't flag it.

hover1 · 2010-06-22 00:59

I wish all my Parallax stuff wasn't packed away right now for a move, or I would fire it up to help further.
Jim

Darn Mike, I was going to mention the stack, but I got distracted.

Post Edited (hover1) : 6/22/2010 1:13:26 AM GMT

p00ndawg · 2010-06-22 17:14

i havent tried the top few suggestions yet but i am posting my current code as described by hover.

p00ndawg · 2010-06-22 17:35

ok I tried added in those pauses and it seems to have helped and it ran for a good 2 minutes before eventually it got stuck moving in the last called move function and stopped pinging the sensors.

I also replaced all the pulses with proper functions for right, left, and forward.

pub movement_class
     
  repeat
  
    if inch1 < distance
       inches := inch1
       pause(10_000)  
       right_turn  'right
       pause(758_333)
    else
     forward
    
    if inch2 < distance
       inches := inch2
       pause(10_000)  
       right_turn
       pause(379_166)
    else
     forward
      
    if inch3 < distance
      inches := inch3
      pause(10_000)  
      left_turn  'left
      pause(2_275_000)
    else
     forward
     
    if inch4 < distance
       inches := inch4
       pause(10_000)  
       left_turn  'left
       pause(379_166)
    else
     forward
    if inch5 < distance
       inches := inch5
       pause(10_000)  
       left_turn   'left
       pause(758_333)
    else
     forward         
    if inch6 < distance_back
       inches := inch6
       pause(10_000)  
       left_turn   'left
       pause(1_516_666)
    else
     forward
   
    if inch7 < distance_back
      inches := inch7
      pause(10_000)  
      left_turn   'left
      pause(1_895_833) 
    else
     forward

    if inch8 < distance_back
       inches := inch8
       pause(10_000)  
       left_turn   'left
        pause(2_275_000)
    else
     forward
     
    if inch9 < distance_back
       inches := inch9
       pause(10_000)  
       right_turn 'right  
       pause(1_516_666)
    else
     forward
         
    if inch10 < distance_back
       inches := inch10
       pause(10_000)  
       right_turn 'right  
       pause(1_895_833)
    else
     forward
     
 



PUB sensor_scan  
     
  repeat
   inch1 := ping.Inches(pin1)                                            'change time to distance in inches 
   inch2 := ping.Inches(pin2)
   inch3 := ping.Inches(pin3)                                            'change time to distance in inches 
   inch4 := ping.Inches(pin4)
   inch5 := ping.Inches(pin5)                                            'change time to distance in inches 
   inch6 := ping.Inches(pin6)
   inch7 := ping.Inches(pin7)                                            'change time to distance in inches 
   inch8 := ping.Inches(pin8)
   inch9 := ping.Inches(pin9)                                            'change time to distance in inches 
   inch10 := ping.Inches(pin10)
  
pub forward
 
'pin 0 = left wheel pin 23 = right wheel
pause(10_000)  
PulsOut(0, 1_600)
PulsOut(23, 1_600)
pause(10_000)  
pub right_turn

pause(10_000)      
PulsOut(0, 1_300)
PulsOut(23, 1_620)
pause(10_000)                        

pub left_turn
pause(10_000)  
PulsOut(0, 1_620)
PulsOut(23, 1_300)
pause(10_000)  
pub stop

pause(10_000)  
PulsOut(23, 1_475)
 PulsOut(0, 1_500)  
pause(10_000)

John Abshier · 2010-06-22 19:44

What happens when cog 0 finishes? Add the following line to Start and see what happens

repeat
I couldn't find in in the manual but I found in a PE Lab that the other cogs continue running.

Making people finde part of the code in the zip file and another part of the code in the post is not conductive to getting help.

However, the logic of you program probably doesn't work as you thing. Assume that inch1 is > distance and inch2 is < distance. I think you want to turn right. But what you will do is go forward then turn right. I think what you want is (summarized pseudo code)

if inches1 < distance
right_turn
elseif inches2 < distance
right_turn
...
elseif inches10 < distance_back
right_turn
else
forward

John Abshier

Post Edited (John Abshier) : 6/22/2010 7:55:34 PM GMT

p00ndawg · 2010-06-22 20:12

ok thanks ill give that a try. Sorry, I edited the code after I posted the zip file so I wanted it to be up to date.

p00ndawg · 2010-06-22 20:22

ok heres what I just ran, I took into account your logic corrections and it runs for about 20 seconds to 60 seconds before getting stuck in permanent forward motion.

Ive reset it a few times and it seems to always get stuck in forward motion and all the ping sensors turn off.

Post Edited (p00ndawg) : 6/22/2010 8:27:46 PM GMT

John Abshier · 2010-06-22 22:35

I don't know why the ping sensors would turn off. But if you we traveling forward and the sensor_scan cog stopped, then the movement_class would continue forward forever. If you have a free pin or 2 you could wire up an led and toggle it at the top or bottom of the sensor_scan repeat loop. Likewise for the movement_class loop. The LED should flash forever. If they don't, I don't have a clue.

John Abshier

p00ndawg · 2010-06-22 23:25

alright that sounds like a great debugging idea. Ive left the lab for today but ill make sure to try that tomorrow.
It would seem to me however that the sensor_scan cog is stopping, because they all go blank and it just goes forward.

p00ndawg · 2010-06-23 17:19

ok this is what I did for the sensor scan method:

PUB sensor_scan

   dira[noparse][[/noparse]15]~~ 'toggle led

            
  repeat
   inch1 := ping.Inches(pin1)                                            'change time to distance in inches 
   inch2 := ping.Inches(pin2)
   inch3 := ping.Inches(pin3)                                            'change time to distance in inches 
   inch4 := ping.Inches(pin4)
   inch5 := ping.Inches(pin5)                                            'change time to distance in inches 
   inch6 := ping.Inches(pin6)
   inch7 := ping.Inches(pin7)                                            'change time to distance in inches 
   inch8 := ping.Inches(pin8)
   inch9 := ping.Inches(pin9)                                            'change time to distance in inches 
   inch10 := ping.Inches(pin10)
    
    !outa[noparse][[/noparse]15]'toggle led
    waitcnt(3_000_000 + cnt) 'toggle led

Im not sure if this is helpful because I dont have any 3 prong led's for the msr1 so I used the led's on the tsl230 color sensor lol, but it got stuck in forward motion and the led's turned off.

Next I ran this for the movement class:


pub movement_class
 
    dira[noparse][[/noparse]15]~~  'toggle led
 
  repeat
   
    !outa[noparse][[/noparse]15] 'toggle led
    waitcnt(3_000_000 + cnt)  'toggle led
  
    if inch1 < distance
       right_turn  'right
       pause(758_333)
       
    elseif inch2 < distance
       right_turn
       pause(379_166)
    
      
    elseif inch3 < distance
      left_turn  'left
      pause(2_275_000)
    
     
    elseif inch4 < distance
       left_turn  'left
       pause(379_166)
    
    elseif inch5 < distance
       left_turn   'left
       pause(758_333)
             
    elseif inch6 < distance_back
       left_turn   'left
       pause(1_516_666)
    
   
    elseif inch7 < distance_back
      left_turn   'left
      pause(1_895_833) 
  

    elseif inch8 < distance_back
      left_turn   'left
      pause(2_275_000)
    
    elseif inch9 < distance_back
      right_turn 'right  
      pause(1_516_666)
  
         
    elseif inch10 < distance_back
       right_turn 'right  
       pause(1_895_833)
    else
     pause(10_000)
     forward
     pause(10_000)

and when it got stuck the led kept blinking.

Post Edited (p00ndawg) : 6/23/2010 5:26:41 PM GMT

p00ndawg · 2010-06-23 23:04

BAH GAWD RING THE DAMN BELL

I found the bug!

Thanks for all the help guys. Really appreciated!

John Abshier · 2010-06-24 01:20

What was it? We would like to learn also.

John Abshier

p00ndawg · 2010-06-24 01:44

oh sorry I was really excited. Im not entirely sure what the bug was, but the whole time I was using these ping sensors a couple of them were acting funny. 2 of them had an always on green led. They scanned fine however, and didnt really seem to be a problem. The lab assistant pointed them out to me, but like I said there really didnt seem to be a problem and we didnt think any of it. Well like I said earlier he tried helping us out and ran his code, and it worked fine, but what happened was he didnt actually use those two ping sensors. I decided to just disable them and see what happens, voila it started running fine. The pings were on p2 and p3, I swapped them from p2 and p3 with p1 and p4 and they started blinking correctly. We tested it for awhile and all the sensors were blinking correctly and it didnt seem as if the sensor cog was stopping.

you live and you learn I guess.

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