I am very new to using the Basic Atom Pro 28. I am trying to solve code issues associated with using the lynxmotion brand wireless PS2 controller. I am using a BotboardII, Basic Atom Pro 28 on a Boe-Bot Chassis with 2 Continuous Rotation Servos. I am trying to get the two joystick controls to help me operate the bot with a “Tank-Like” control.
I am familiar with Basic Stamp Programming using Pulsout, but I have come to understand that the Basic Atom will not control servos that way. I changed some code to use the “SERVO” command. However, finding the range in which they work as well as how to make them both turn at the same time has become difficult.
Currently, the code will turn each servo (Connected to P2 and P3) forward and back, but not at the same time!
My code is shown below.
Any help would be greatly appreciated.
;PS2 Controller / BotBoard II
DAT con P12
CMD con P13
SEL con P14
CLK con P15
;-----------------------------
index var byte
temp var byte(19)
time var word
mode var byte
Small_Motor var byte
Large_Motor var byte
time = 50
;PS2Init
high CLK
low SEL
shiftout CMD,CLK,FASTLSBPRE,$1\8,$43\8,$0\8,$1\8,$0\8] ;CONFIG_MODE_ENTER
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;SET_MODE_AND_LOCK
high SEL
pause 100
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8] ;SET_DS2_NATIVE_MODE
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$4D\8,$00\8,$00\8,$01\8,$FF\8,$FF\8,$FF\8,$FF\8] ;VIBRATION_ENABLE
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8] ;CONFIG_MODE_EXIT_DS2_NATIVE
high SEL
pause 1
low SEL
shiftout CMD,CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;CONFIG_MODE_EXIT
high SEL
pause 1
main:
;-----------PS2 Mode----------
low SEL
; asking “mode” to PS2 controller
shiftout CMD,CLK,FASTLSBPRE,$1\8]
; reading “mode” from PS2 controller
; 73(hex) is dualshock1 (digital buttons)
; 79(hex) is dualshock2 (analog buttons)
shiftin DAT,CLK,FASTLSBPOST,[mode\8]
high SEL
;-----------------------------
pause 1
;-----------PS2 Data----------
low SEL
; asking data to PS2 controller
shiftout CMD,CLK,FASTLSBPRE,$1\8,$42\8]
; reading data from controller
; (don’t use a “for-next” loop, it’s too slow to read PS2 data)
shiftin DAT,CLK,FASTLSBPOST,[temp(0)\8,temp(1)\8,temp(2)\8,temp(3)\8,temp(4)\8,temp(5)\8,temp(6)\8,temp(7)\8,temp(8)\8, |
temp(9)\8,temp(10)\8,temp(11)\8,temp(12)\8,temp(13)\8,temp(14)\8,temp(15)\8,temp(16)\8,temp(17)\8,temp(18)\8]
high SEL
;-----------------------------
pause 1
;Right and Left Joystick Control for Right and Left Servo Motors
low 3
If temp (4) = 000 Then
SERVO 3, -1200
low 3
ELSEIF temp (4) = 255
SERVO 3, 1200
endif
low 2
If temp (6) = 000 Then
SERVO 2, 1200
low 2
ELSEIF temp (6) = 255
SERVO 2, -1200
ENDIF
;-----------PS2 Vibration motors----------
Small_Motor = 1 - Temp(1).bit5 ; Numeric right arrow button (Small Motor on/off)
Large_Motor = Temp(8) ; Analog left arrow button (Large Motor speed)
low SEL
; asking data to PS2 controller (again)
shiftout CMD,CLK,FASTLSBPRE,$1\8,$42\8,$0\8,Small_Motor\8,Large_Motor\8]
high SEL
;-----------------------------
;-----------Basic Micro IDE terminal----------
; sending carriage return (CR = 13) and the PS2 mode(hex) to the PC
serout S_OUT,i57600,[13, hex2 mode\2] ;Basic Micro Pro IDE <= 08.0.1.7
for index = 1 to 18 ; temp(0) contains a dummy variable so we don’t send it to the PC
; sending all the data to the PC
serout S_OUT,i57600," ", dec3 temp(index)\3] ;Basic Micro Pro IDE <= 08.0.1.7
next
;-----------------------------
goto Main
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