hi peeps
wasnt sure where to put this but i decided as im utterly clueless this would be a good place to start.
i finally completed my akira programming (after a sleep deprived war with the "if/elseif" protocol) and frankly rather than being over joyed the only sound from my mouth was - "huh?".
the ultrasonic detection has gone out of the window (every now and again it spots something at its side - twitches then resets itself - the rest of the time its blind)
this is my first time at pbasic - i tested all the sections individually and they were fine - but combined its just a gibbering mess
the site wouldnt allow upload so ive just cut, paste and am now hoping for genius inspiration
thanks guys
dom
update : 26-08-12
thanks to your advice and a lot of instruction reading ive managed to produce something much closer to what i was after...
only problem is that its still as blind as a bat - (slight ultrasonic joke there ;) )
if i stand in front of akira (and keep shuffleing to the side) it eventually spots me - but it quite happily runs straight into the wall and starts humping it without any real reaction. i tested that the activation of the tracks wasnt interfering with the ultrasonics so im still a bit lost.
ive changed all the dodgy goto's and gosubs and overall it should be much cleaner but i still think im missing a major blaringly obvious mistake - so again im asking for your help.
ive replaced the ver1 with ver2 as you'll see below
thanks again peeps
dominic
10:09:12
ive updated it again mainly to keep myself up to speed and cos im going to create a link to it
dom
; Akira version 2
; Pin names
; Digital output
symbol doutpin0 = B.0 ;servo - could symbol it "servo" - ive left it for now
symbol doutpin1 = B.1
symbol doutpin2 = B.2 ;LED (red)
symbol doutpin3 = B.3 ;Trig pulse, ultrasonic sensor (direct chip output)
symbol doutpin4 = B.4 ;motor A
symbol doutpin5 = B.5 ;motor A
symbol doutpin6 = B.6 ;motor B
symbol doutpin7 = B.7 ;motor B
; Digital input
symbol dinpin0 = pin0
symbol dinpin1 = pin1
symbol dinpin2 = pin2
symbol dinpin3 = pin3 ;push button input
symbol dinpin4 = pin4
symbol dinpin5 = pin5
symbol dinpin6 = pin6 ;Echo, ultrasonic sensor
symbol dinpin7 = pin7
; Analogue input
;symbol aninpin0 = c.0
;symbol aninpin1 = c.1
;symbol aninpin2 = c.2
;symbol aninpin3 = c.3
; General symbols
symbol LED = B.2
; Variable symbols
' (byte variables [bx] can store integer numbers between 0 and 255)
; (word variables [wx] can store integer numbers between 0 and 65535)
; (bit variables [bitx] can store single bits - ie 1 or 0)
;list (to keep track)
;b0 = bit variable = bit7: bit6: bit5: bit4: bit3: bit2: bit1: bit0
;b1 = bit variable = bit15: bit14: bit13: bit12: bit11: bit10: bit9: bit8
;b2 = vgap variable gap
;b3 = vgap2
;(b5:b4) = w2 = range ; 16 bit word variable for range (ultrasonic input)
;(b7:b6) = w3
;(b9:b8) = w4
;(b11:b10) = w5
;
;b12 = forward distance
;b13 = left distance
;b14 = right distance
;b15 = ultrasonic detector output (in cm)
;b16 = headbutt = danger (getting too close - 1= do something , 0 = safe)
;b17 = headshake (distance scan count)
;b18= hell - just to keep it looping for now
;b19 = left
;b20 = right
symbol vgap = b2 ;variable gap
let vgap = 1 ;vgap = 1 as standard (no real difference)
symbol vgap2 = b3 ;variable gap
let vgap2 = 1 ;wait vgap = 1 as standard
symbol for_distance = b12
symbol left_distance = b13
symbol right_distance = b14
symbol headbutt = b16 ;getting too close
let headbutt = 0 ;0=safe
symbol headshake = b17
symbol hell = b18
let hell = 0
symbol left = b19
let left = 0
symbol right = b20
let right = 0
;Ultrasonic detector
symbol trig = 3 ; Define output pin for Trigger pulse
;- seems happy with just 3 not B.3
symbol echo = 6 ; Define input pin for Echo pulse
; - again happy with 6 not pin6
symbol range = w2 ; 16 bit word variable for range (ultrasonic input)
; removes the need for the max 250 safety check
symbol distance = b15 ;ultrasonic detector output (is this needed? - no
;- its the origional test version - max was 255
;leave it in in case you revert - reverted - see notes
; program start
main:
;debug distance; option for testing - does not require a specific variable
;wake up - servo and led
gosub wakeup
;push button input
gosub pushbutton
;pause to allow fingers to escape
pause 500
;LED on (stays on for duration)
gosub ledon
do
static_scan: ;(to get us started)
;standard scan
gosub servo_standard
;does forward direction have more than 20cm free movement?
; yes? we are off (goto mobile scan)
if for_distance > 20 then goto mobile_scan
; no? out of left and right which has more space?
if left_distance > right_distance then gosub akira_left_turn
; left? then turn left and check again
if left_distance < right_distance then gosub akira_right_turn
; right? then turn right and check again
pause 2500 ;wait 2.5 seconds ie 90 degree turn
gosub akira_stop
goto static_scan ; check again with a static scan
mobile_scan:
;move forward
gosub akira_forward
;scan (distance) 5 times or till object spotted (15cm)
for headshake = 1 to 5
gosub servo_distance
if headbutt = 1 then exit
next headshake
;scan (sweep) once
gosub servo_sweep
;tweak away from any object
if headbutt = 1 and left = 0 and right = 0 then goto static_scan ;front
if headbutt = 1 and left = 0 and right = 1 then gosub akira_left_tweak ;right
if headbutt = 1 and left = 0 and right = 2 then gosub akira_left_tweak ;far right
if headbutt = 1 and left = 1 and right = 0 then gosub akira_right_tweak ;left
if headbutt = 1 and left = 2 and right = 0 then gosub akira_right_tweak ;far left
if headbutt = 1 and left >= 1 and right >=1 then goto static_scan
;carry on mobile scan unless...
goto mobile_scan
;less than 10cm means stop and turn (ie goto main)
loop until hell = 1 ; frozen over
goto main ; pure paranoia - but you never know
stop
; Main program end
; Gosubs
; Wake up
wakeup:
servo doutpin0, 150 ;center the servo
pause 200
for vgap = 1 to 3 ;three LED flashes
gosub ledflash
next vgap
return
; push button input
pushbutton:
;if dinpin3 = 1 then return
; else goto pushbutton
; endif
;return
'Loop until pushbutton is pressed.
do while dinpin3 = 0
loop
return
;symbol dinpin3 = pin3 ;push button input
; also needs a voltage from this section to power the switch
; LED gosubs
; General symbols
; symbol LED = B.2
ledflash: ;one flash,0.5 sec gap
high led
pause 500
low led
pause 500
return
ledon:
high led
return
ledoff:
low led
return
;movement
;right forward
;high 5
;low 4
;left forward
;high 6
;low 7
; 2 meters
;20 sec
;thus 1m in 10 sec or 10cm per sec
;turning
;right angle = 8 sec however this is with full grip which causes damage
;with PVA glue - one revolution = 9 sec
;Movement gosubs
akira_forward:
high 5
low 4
high 6
low 7
return
akira_stop:
low 5
low 4
low 6
low 7
return
akira_backwards:
low 5
high 4
low 6
high 7
return
akira_right_turn:
low 5
high 4
high 6
low 7
return
akira_left_turn:
high 5
low 4
low 6
high 7
return
akira_right_tweak:
low 5
low 4
high 6
low 7
pause 200 ;0.2 of a second
high 5 ;return to forward
low 4
high 6
low 7
pause 200
return
akira_left_tweak:
high 5
low 4
low 6
low 7
pause 200 ;0.2 of a second
high 5 ;return to forward
low 4
high 6
low 7
pause 200
return
; Servo movement
; Digital output
; symbol doutpin0 = B.0 ;servo
; note on pauses - the motor needs time to respond otherwise
;it moves staight onto the next command (you just get a shiver)
;(pause 100 is pretty much the absolute fastest... pause 150 is better)
;also - greater movement - greater time needed
servo_sweep: ;use later
let headbutt = 0
let left = 0
let right = 0
gosub look_forward
gosub ultra
if distance < 10 then gosub danger_forward
gosub look_little_right
gosub ultra
if distance < 10 then gosub danger_right
gosub look_right
gosub ultra
if distance < 7 then gosub more_danger_right
gosub look_forward
gosub ultra
if distance < 10 then gosub danger_forward
gosub look_little_left
gosub ultra
if distance < 10 then gosub danger_left
gosub look_left
gosub ultra
if distance < 7 then gosub more_danger_left
return
danger_forward:
let headbutt = 1
return
danger_left:
let headbutt = 1
let left = 1
return
danger_right:
let headbutt = 1
let right = 1
return
more_danger_left:
let headbutt = 1
let left = 2
return
more_danger_right:
let headbutt = 1
let right = 2
return
servo_standard: ;used for turning on the spot
gosub look_forward ;allow time to reach
gosub ultra ;ultrasonic the range
let for_distance = distance ;transfer range info to forward distance variable
gosub look_left
gosub ultra
let left_distance = distance
gosub look_forward
gosub look_right
gosub ultra
let right_distance = distance
gosub look_forward
return
servo_distance: ;checks general area in front - no specifics
let headbutt = 0
gosub look_forward
gosub ultra
if distance < 15 then let headbutt = 1
endif
gosub glimpse_right
gosub ultra
if distance < 15 then let headbutt = 1
endif
gosub look_forward
gosub ultra
if distance < 15 then let headbutt = 1
endif
gosub glimpse_left
gosub ultra
if distance < 15 then let headbutt = 1
endif
return
;ver 2
look_forward: ;150
servopos doutpin0, 150
pause 200
return
look_left: ;225
servopos doutpin0, 225
pause 200
return
look_right: ;75
servopos doutpin0, 75
pause 200
return
look_little_left: ;185
servopos doutpin0, 185
pause 200
return
look_little_right:;115
servopos doutpin0, 115
pause 200
return
glimpse_left: ;170
servopos doutpin0, 170
pause 200
return
glimpse_right: ;130
servopos doutpin0, 130
pause 200
return
;Ultrasonic detector
;symbol trig = 3 ; Define output pin for Trigger pulse
;symbol echo = 6 ; Define input pin for Echo pulse
;symbol range = w1 ; 16 bit word variable for range
;symbol distance = b15 ;ultrasonic detector output
ultra:
pulsout trig,2 ; produce 20uS trigger pulse (must be minimum of 10uS)
pulsin echo,1,range ; measures the range in 10uS steps
pause 10 ; recharge period after ranging completes
; now convert range to cm (divide by 5.8) or inches (divide by 14.8)
; as picaxe cannot use 5.8, multiply by 10 then divide by 58 instead
let distance = range * 10 / 58 ; multiply by 10 then divide by 58
debug range ; display range via debug command (optional for testing) - repositioned
return ; and around forever
; 95cm max? (it changes - 50 cm was v accurate)...other than that...spot on
; output is on b7 variable - w1 or range works just as well
end ;of program
; notes 19:9:12
;changed pushbutton loop to birds version - its just cleaner
; w1 variable was also your vgaps - changed to w2
;replaced let range = range * 10 / 58 with distance - b variable might need less time
;new notes
;repeated servo twitch pre button push (only slight but why?)
; general movement is closer to what i planned except for the fact that the little
; bugger needs glasses (which is complicated for a sound based vision system)
; is it a slow reaction time or do i have the reaction distance wrong?
;old Notes (pre 26-08-12)
;something is causing it to go back to the very beginning (pre pushbutton)
; as this doesnt happen in simulate im thinking an input is the cause
;ultrasonics appear completely useless - only serious pestering causes response
;managed a tweak - servo stuck left
;ultrasonics work better with a white board - dont ask
;board on left = left servo freeze then reset
;board on right = left servo freeze then reset (one example of a correct turn tho)
