I’ve been trying to use the program here:
lynxmotion.com/images/files/bratosf.bas
but as I do not have an ATOM pro but instead a BS2 i rewrote it in this way:
[code]’ {$STAMP BS2}
’ {$PBASIC 2.5}
righthip CON 10 ‘| Servo Offset Finder |’
rightknee CON 8 ‘| Written by James Frye |’
rightankle CON 7 ‘| |’
lefthip CON 6 ‘| Use this program TO find |’
leftknee CON 5 ‘| the servo offsets FOR your |’
leftankle CON 4 ‘| Lynxmotion BRAT using an Atom Pro|’
‘| AND a Bot Board! |’
righthip_start CON 0 ‘| |’
rightknee_start CON 0 ‘±---------------------------------+’
rightankle_start CON 0 ‘| How TO use |’
lefthip_start CON 0 ‘| |’
leftknee_start CON 0 ‘| Press A TO decrease the servo |’
leftankle_start CON 0 ‘| offset by 5us |’
‘| |’
rhip VAR Word ‘| Press C TO increase the servo |’
rknee VAR Word ‘| offset by 5us |’
rankle VAR Word ‘| |’
lhip VAR Word ‘| Press B TO change which servo is |’
lknee VAR Word ‘| being manipulated, AND TO send |’
lankle VAR Word ‘| DATA back TO the terminal |’
‘| |’
rhip = ((righthip_start / 24) + 750) ‘| The servos are changed in this |’
rknee = ((rightknee_start / 24) + 750) ‘| order |’
rankle = ((rightankle_start / 24) + 750) ‘| |’
lhip = ((lefthip_start / 24) + 750) ‘| Right Hip -> Right Knee -> Right |’
lknee = ((leftknee_start / 24) + 750) ‘| ^ Ankle |’
lankle = ((leftankle_start / 24) + 750) ‘| | | |’
‘| | v |’
currentServo VAR Byte ‘| Send <- Left <- Left <- Left|’
currentServo = 1 ‘| DATA Ankle Knee Hip |’
‘±---------------------------------+’
'BUTTON init
buttonA VAR Bit
buttonB VAR Bit
buttonC VAR Bit
prevA VAR Bit
prevB VAR Bit
prevC VAR Bit
INPUT 12
INPUT 13
INPUT 14
main:
GOSUB pulsemove
prevA = buttonA
prevB = buttonB
prevC = buttonC
buttonA = IN12
buttonB = IN13
buttonC = IN14
IF (buttonA = 0) AND (prevA = 1) THEN 'A wasn’t already pressed the last time
GOSUB decreaseOffset
GOTO main
ENDIF
IF (buttonB = 0) AND (prevB = 1) THEN
currentServo = currentServo + 1
IF(currentServo = 7) THEN
LOW 13
ENDIF
GOTO main
ENDIF
IF (buttonC = 0) AND (prevC = 1) THEN
GOSUB increaseOffset
GOTO main
ENDIF
GOTO main
increaseOffset:
IF(currentServo = 1) AND (rhip < 800) THEN
rhip = rhip + 5
ELSEIF(currentServo = 2) AND (rknee < 800) THEN
rknee = rknee + 5
ELSEIF(currentServo = 3) AND (rankle < 800)THEN
rankle = rankle + 5
ELSEIF(currentServo = 4) AND (lhip < 800) THEN
lhip = lhip + 5
ELSEIF(currentServo = 5) AND (lknee < 800) THEN
lknee = lknee + 5
ELSEIF(currentServo = 6) AND (lankle < 800) THEN
lankle = lankle + 5
ELSE
ENDIF
RETURN
decreaseOffset:
IF(currentServo = 1) AND (rhip > 700) THEN
rhip = rhip - 5
ELSEIF(currentServo = 2) AND (rknee > 700) THEN
rknee = rknee - 5
ELSEIF(currentServo = 3) AND (rankle > 700)THEN
rankle = rankle - 5
ELSEIF(currentServo = 4) AND (lhip > 700) THEN
lhip = lhip - 5
ELSEIF(currentServo = 5) AND (lknee > 700) THEN
lknee = lknee - 5
ELSEIF(currentServo = 6) AND (lankle > 700) THEN
lankle = lankle - 5
ELSE
ENDIF
RETURN
pulsemove:
PULSOUT leftankle, (lankle)
PULSOUT leftknee, (lknee)
PULSOUT lefthip, (lhip)
PULSOUT rightankle, (rankle)
PULSOUT rightknee, (rknee)
PULSOUT righthip, (rhip)
PAUSE 20
RETURN
waitloop:
GOSUB pulsemove
buttonB = IN13
IF (buttonB = 0) AND (prevB = 1) THEN
currentServo = 1
GOTO main
ENDIF
prevB = buttonB
GOTO waitloop[/code]
I left out the sound and the final output for simplicity.
For some reason, when I run the code, it first calls pulsemove with each var=750 and the brat starts barely moving, as if the servo motors aren’t strong enough to move it at all- it never can execute the other code because the first call to pulsemove is never completed. Also, there is a noticeable jerking. I have a 422, is this because the motor is too weak?
