programme problem

_CHN_Anarkia · March 15, 2010, 6:45am

well I have built my robot successfully yesterday, but my programme had some problem (again).

So here the problem is:

If I download this code completely, only signal from channel 2 would work.
If I cut those parts about spinning, it worked correctly.
If I cut all parts expect that, it worked correctly as well.
if I set ch3 & ch4 for normal movement, ch5 for spinning, ch6 for flipper, ch2 for dumper, it worked correctly as well.

So it seemed to be such a strange problem to me and It successfully got me into a mess.

Looking for your help and great appreciate.

Here the code is.
Anarkia_dual_v1.0 beta 1127.zip (21.9 KB)

MarkO · March 15, 2010, 7:57pm

This is very interesting… You are using EasyC v.2??

#include "Main.h"

void main ( void )
{
      unsigned char a; 

      while ( 1 )
      {
            OIToPWM ( 1 , 3 , 1 , 0 ) ;
            OIToPWM ( 1 , 3 , 2 , 1 ) ;
            OIToPWM ( 1 , 4 , 3 , 1 ) ;
            OIToPWM ( 1 , 4 , 4 , 0 ) ;
            // a is used for spinning 
            a = GetRxInput ( 1 , 2 ) ;
            // motor 5&6 for flipper 
            Arcade2 ( 1 , 5 , 5 , 5 , 6 , 0 , 1 ) ;
            // motor 7&8 for dumperr (4 motor connected by Y-cable) 
            Arcade2 ( 1 , 6 , 6 , 7 , 8 , 0 , 1 ) ;
            while ( a > 127 )
            {
                  // clockwise 
                  SetPWM ( 1 , a ) ;
                  SetPWM ( 2 , a ) ;
                  SetPWM ( 3 , a ) ;
                  SetPWM ( 4 , a ) ;
                  a = GetRxInput ( 1 , 2 ) ;
            }
            while ( a < 127 )
            {
                  // anticlockwise 
                  SetPWM ( 1 , a ) ;
                  SetPWM ( 2 , a ) ;
                  SetPWM ( 3 , a ) ;
                  SetPWM ( 4 , a ) ;
                  a = GetRxInput ( 1 , 2 ) ;
            }
      }
}

What Happens if Channel #2 returns 128??? Maybe you should set a Deadband, basically set your While Tests to 127/128 +/- 12, like :


            while ( a > 139 )
            ....
            while ( a < 116 )

This will give you a larger middle area for your main code:


            OIToPWM ( 1 , 3 , 1 , 0 ) ;
            OIToPWM ( 1 , 3 , 2 , 1 ) ;
            OIToPWM ( 1 , 4 , 3 , 1 ) ;
            OIToPWM ( 1 , 4 , 4 , 0 ) ;

I don’t quite know what will happen with Channels 5 & 6 and using them with the Arcade Mode… The Arcade Mode should blend them like in the MPLAB Code, as described here in the Inventors Guide :

Vex Inventors Guide 2008, Page E-22, PDF page 188

“12 mode” is actually a “mix” mode, where the output commands sent to
ports 1 and 2 do not represent the input from a single joystick axis. The actual
equations used are:
Motor Port 1 = 50% of stick 1 + 50% of stick 2
Motor Port 2 = 50% of stick 2 – 50% of stick 1

As you can see, this automatically allows you to go to the 100% motor power if you push the stick to the corners. However, it also means that the robot will only move at 50% of maximum motor power straight forward (stick axis 2 at max * 50%, and no contribution from stick axis 1).

Extra Info About Mixes And The Drive 12 Mode:
Motor Port 1 = 50% of stick 1 + 50% of stick 2 =
50% * (stick 1 + 100% of stick 2)

Motor Port 2 = 50% of stick 2 – 50% of stick 1 =
50% * (stick 2 – 100% of stick 1)

You can think of this as a pair of “mixes”, as if you had set them in the P.Mix section (although P.Mix on the VEX Transmitter only allows one mix, so you could not quite duplicate this functionality through the P.Mix mode here).

Channel 1 would have a -100% mix on Channel 2, and Channel 2 would have
a +100% mix on Channel 1; both axes would then be scaled to 50% as if you had set that option in the SCALE menu.

jfeord14 · March 23, 2010, 6:50pm

If all else fails try another controller you might have changed the settings on your controller and screwed up the channels. It’s easy to do and has happened to me on several occasions.