Need a little help in understanding example code for Hexapod

Lynxmotion Legged Robots
1

Hello all,
I have taken an example code for Hexapod from here:
lynxmotion.com/images/files/eh3r220.bas

I am trying to use it for my hex. This example code is written in Basic syntax and is used for Bot Board / BASIC Atom 28

I am using OOPic and C style code, so I have a problem with understanding meaning of DEC in this line of code:

serout p15,i38400,"#",RRHH,RRHH2,“P”,DEC HipH_Pulse(0),"#",RRHV,RRHV2,“P”,DEC HipV_Pulse(0),

Is this DEC= decriment or something else, something specific for BASIC Atom? How can it be rewritten in C?

Other than that I have already re factored the rest of the code to oopic C style code.

Thank you for your replies. Your help will be greatly appreciated.

2

The “DEC” modifier tells the compiler that you wish to output the value as Decimal ascii values not as a simple binary value. There are several ways to do this in C. For example you could call a simple function like “itoa” to convert the value, or more likely in C you would want to use something like printf to do the output and conversions.

Good Luck

3

DEC is some sort of formatting statement. You might want to download a copy of the Atom BASIC manual.

Try this:

printf("#%02dP%d#%02dP%d", RRHH, HipH_Pulse[RR_LEG], RRHV, HipV_Pulse[RR_LEG]);

Many things in Atom BASIC are typically done differently in C. Use #defines.

Replace “#%02dP%d#%02dP%d” with ServoStr1.

I don’t know the OOPic C variations. How do you like OOPic?

Alan KM6VV

4

Thank you guys for your replies!

Tried both printf and itoa, but OOPic compiler could not parse them. Then I stumbled upon Str$ function in OOPic manual.

oopic.com/str.htm

“A function that takes an argument of a numeric data type and returns the argument’s value as a string written out as a decimal number.”

Am I understanding correctly, that it is the same as DEC in BASIC syntax?

At least when I have rewritten my code as follows:

SSC.String=("#"+RRHH+RRHH2+“P”+Str$(HipH_Pulse(0))+"#"+RRHV+RRHV2+ … etc

Compiler parsed it successfully and threw no mistakes.

I find OOPic to be quite useful for me. It can do everything I need and its easy to program. But I have no experience with Basic Atom and Bot Board, so I can’t compare these two.

5

Str$()? Sounds like BASIC.

Manual says OOpic has four “Syntax Compatibility Modes”. Something for everybody I guess.

What’s wrong with %d ? no printf()?

printf("#%02dP%d#%02dP%d", RRHH, HipH_Pulse[RR_LEG], RRHV, HipV_Pulse[RR_LEG]);

It does appear to have a rich set of objects. But the details of controlling peripherals is hidden too much, imo.

Alan KM6VV