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Dave_25152
Joined: 11 Dec 2010
Posts: 60
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| Robo "crazy" with repetitions |
 Posted: Sun Jul 17, 2011 7:12 am |
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Hello everyone!
Well, I'll be brief in describing the problem, do not want to bore you too much.
The code is what you can see below.
This code causes a "robot" first walk in front, then going to read an IR sensor and when it finds the end of a table, pulls back and turns.
So far so good ... if I follow the code below, it does everything well. The problem arises when, within the program main () I put:
| Code: | while(true)
{
frente();
sensor();
para_recua_para();
vira_para();
} |
He starts to walk out of control and always "fall ".... should be generated an error somewhere, but I've had enough of walking round to it and I fail to see what it is.
I wanted to enter a contest today with this game, but I can not. Succeeded in making me crazy and apparently .... he also went insane.
What can happen? I've thought it was due to the engines ... since the initiation but put a 47uF capacitor.
It is also the information that I control two motors with an L293 with 8 diodes (two H-bridges).
| Code: | #include <16f88.h>
#device adc=10
#fuses NOWDT, NOMCLR, NOBROWNOUT, NOLVP, NOCPD, INTRC_IO,
#use delay (clock=1M)
void frente()
{
output_low(PIN_B5);
output_high(PIN_B4);//roda esquerda
output_low(PIN_B3);
output_high(PIN_B2);//roda direita
}
void sensor()
{
long int s;
SET_ADC_CHANNEL(2);
delay_us(50);
while(s>=450)
{
s=read_adc();
}
}
void para_recua_para()
{
output_high(PIN_B3);
output_high(PIN_B5);//para
delay_ms(1000);
output_low(PIN_A1);
output_low(PIN_B4);
output_low(PIN_B2);//recua
delay_ms(900);
output_high(PIN_B2);
output_high(PIN_B4);//para
}
void vira_para()
{
output_low(PIN_B4);//roda esquerda
delay_ms(1000);
output_high(PIN_B4);//para
}
void main()
{
set_tris_A(0B00000100);
set_tris_B(0B00000000);
setup_oscillator(OSC_1MHZ|OSC_INTRC);
SETUP_ADC(ADC_CLOCK_internal);
SETUP_ADC_PORTS(sAN2|VSS_VDD);
frente();
sensor();
para_recua_para();
vira_para();
} |
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PCM programmer
Joined: 06 Sep 2003
Posts: 21708
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| Posted: Sun Jul 17, 2011 1:08 pm |
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I think your program is too difficult to understand. You should modify
it so the design of the program is easy to see.
For example, you should replace all "PIN_xx" statements with a defined
constant (in upper case), so you can easily see what the pin does.
When you do this, it also helps to make the code be self-documenting.
You don't need to put comments on the line. You can just look at the
line of code see what it does. (I don't know what pins B3 and B5 do,
so I didn't create #define statements for them).
| Code: |
#define RODA_ESQUERDA PIN_B2 // Left wheel (in English)
#define RODA_DIREITA PIN_B4 // Right wheel (in English)
void frente()
{
output_low(PIN_B5);
output_high(RODA_ESQUERDA);
output_low(PIN_B3);
output_high(RODA_DIREITA);
}
|
That's one improvement. You can also take to the next step, by defining
macro functions for controlling the wheels. This will make it easier to
see what your code is doing, and make it easier for you to see the
problems in the program.
| Code: |
#define RODA_ESQUERDA PIN_B2
#define RODA_DIREITA PIN_B4
#define roda_direita_ativo() output_high(RODA_DIREITA)
#define roda_direita_parar() output_low(RODA_DIREITA)
#define roda_esquerda_ativo() output_high(RODA_ESQUERDA)
#define roda_esquerda_parar() output_low(RODA_ESQUERDA)
void frente()
{
roda_direita_ativo(); // right_wheel_on() in English
roda_esquerda_ativo(); // left_wheel_on() in English
// Put other code here.
}
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I used the Google Translator to choose the Portuguese words.
I used 'ativo' for active, and 'parar' for stop. |
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Dave_25152
Joined: 11 Dec 2010
Posts: 60
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| Posted: Sun Jul 17, 2011 5:24 pm |
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OK, my friend!
I'll do as you say.
Thank you very much the time you lost.
With best regards,
David Martins |
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