Help, first program

youngti · October 04, 2008, 05:52:49 PM

Okay, now being new at this I might be bitting off more that I can chew.

Here is what I'm trying to do, I have a Grim reaper with a 3 axis skull attached. It will have two PIR's one on the right and one on the left. When the right PIR is triggered I want the Nod Srvo to look up and Swivel Servo to move to the right, then have the CAP-200 start playing. Then when the left PIR is tiriggered the Nod Srvo to look up and Swivel Servo to move to the left and the CAP will play. The script loads so I know I don't have any syntax error, but nothing is happening. Thank you for any help.

Here is my script;

Using a Prop1, ST-200, and CAP-200.

'
' File...... Reaper
' Purpose...
' Author.... Tim Young
' E-mail....
' Started... 10/04/08
' Updated...
'
' {$STAMP BS1}
' {$PBASIC 1.0}
'
' =========================================================================

' -----[ Program Description ]---------------------------------------------
'Program will accept INPUT from right PIR, turn head AND THEN start CAP.
'THEN on left PIR activation, turn head left AND start CAP.

' -----[ Revision History ]------------------------------------------------

' -----[ I/O Definitions ]-------------------------------------------------

SYMBOL Trigger1 =PIN7 ' SETUP = DN
SYMBOL Trigger2 =PIN6 ' SETUP = DN
SYMBOL CapAudio =PIN3 ' white->OUT3, black->GND
SYMBOL TiltServo =PIN2
SYMBOL NodServo =PIN1
SYMBOL SwivelServo =PIN0

' -----[ Constants ]-------------------------------------------------------

SYMBOL IsOn = 1
SYMBOL IsOff = 0
SYMBOL AudioOn = 1
SYMBOL AudioOff = 0

' -----[ Variables ]-------------------------------------------------------

SYMBOL pirTimer1 = B2 ' for debouncing PIR
SYMBOL pirTimer2 = B3 ' for debouncing PIR

' -----[ Initialization ]--------------------------------------------------

Reset:
PINS = %00000000
DIRS = %01111111 ' set outputs

PAUSE 30000 ' let PIR warm-up

' -----[ Program Code ]----------------------------------------------------

Main:
pirTimer1 = 0
pirTimer2 = 0

PIR1_Wait:
PAUSE 10
pirTimer1 = pirTimer1 + 10 * Trigger1 ' update timer
IF pirTimer1 < 250 THEN Main

IF Trigger1 = IsOn THEN Servo1

Servo1:
PULSOUT NodServo, 150 ' Center the servo
PULSOUT SwivelServo, 250 ' Move the servo Right

GOSUB CAP_Start
PAUSE 2000 ' adjust for sound

PIR2_Wait:
PAUSE 10
pirTimer2 = pirTimer2 + 10 * Trigger2 ' update timer
IF pirTimer2 < 250 THEN Main

IF Trigger2 = IsOn THEN Servo2

Servo2:
PULSOUT NodServo, 150 ' Center the servo
PULSOUT SwivelServo, 10 ' Move the servo Left

GOSUB CAP_Start
PAUSE 2000 ' adjust for sound

GOTO Main

' -----[ Subroutines ]-----------------------------------------------------
CAP_Start:
CapAudio = AudioOn ' pull OUTx low
PAUSE 250 ' hold for CAP debounce
CapAudio = AudioOff ' release OUTx
RETURN
' -------------------------------------------------------------------------

' -----[ EEPROM Data ]-----------------------------------------------------

JonnyMac · October 04, 2008, 07:28:40 PM

Uh, yeah... servos are not easy. I can't remember how many posts where I've reminder our friends that servos must be updated 50 times per second. Period. Failing to do so, especially when the servos have a load applied, means that they will misbehave. The challenge for us, then, is how to construct a program that can monitor inputs while constantly refreshing the servos. This is called a state-machine and, thankfully, PBASIC has been designed to support his kind of programming. If you search the forums you'll find several S/M-type programs I've done for others.

This may be tricky to understand at first -- take your time and try to understand it before making any modifications. Note that you'll have to edit in your actual servo position values for the wait state and the two sides -- I used 150 (center) for everything just to get the program in place.

' =========================================================================
'
' File...... Reaper.BS1
' Purpose...
' Author.... Jon Williams, EFX-TEK
' Copyright (c) 2008 EFX-TEK
' Some Rights Reserved
' -- see http://creativecommons.org/licenses/by/3.0/
' E-mail.... jwilliams@efx-tek.com
' Started...
' Updated... 04 OCT 2008
'
' {$STAMP BS1}
' {$PBASIC 1.0}
'
' =========================================================================

' -----[ Program Description ]---------------------------------------------

' -----[ Revision History ]------------------------------------------------

' -----[ I/O Definitions ]-------------------------------------------------

SYMBOL Trigger1 = PIN7 ' SETUP = DN
SYMBOL Trigger2 = PIN6 ' SETUP = DN
SYMBOL CapAudio = PIN3 ' white->OUT3, black->GND
SYMBOL Tilt = 2
SYMBOL Swivel = 1
SYMBOL Nod = 0

' -----[ Constants ]-------------------------------------------------------

SYMBOL IsOn = 1 ' for active-high in/out
SYMBOL IsOff = 0

SYMBOL Baud = OT2400

' -----[ Variables ]-------------------------------------------------------

SYMBOL state = B0 ' program state
SYMBOL show = B1 ' left or right
SYMBOL pirTime1 = B2 ' debounce for left PIR
SYMBOL pirTime2 = B3 ' debounce for right PIR
SYMBOL nodPos = B4 ' servo position
SYMBOL swivelPos = B5
SYMBOL tiltPos = B6

SYMBOL timer = W5 ' show timer

' -----[ Initialization ]--------------------------------------------------

Reset:
PINS = %00000000 ' clear everything
DIRS = %00001111 ' set outputs

nodPos = 150
swivelPos = 150
tiltPos = 150

state = 0
timer = 1500 ' warm-up delay

' -----[ Program Code ]----------------------------------------------------

Main:
PULSOUT Nod, nodPos
PULSOUT Swivel, swivelPos
PULSOUT Tilt, tiltPos ' not used?
PAUSE 15 ' pad for ~20 ms

IF timer = 0 THEN Run_State ' skip if expired
timer = timer - 1 ' update timer

Run_State:
BRANCH state, (Warm_Up, Check_PIRs, Start_Audio, Run_Left, Run_Right)
state = 0

Warm_Up:
IF timer > 0 THEN Main
pirTime1 = 0
pirTime2 = 0
state = 1

GOTO Main

Check_PIRs:
pirTime1 = pirTime1 + 20 * Trigger1
pirTime2 = pirTime2 + 20 * Trigger2

Check_1: ' check left PIR
IF pirTime1 < 100 THEN Check_2
state = 2
show = 3 ' save side to run
CapAudio = IsOn
timer = 13 ' 13 x 20ms = 260ms
GOTO Main

Check_2: ' check right PIR
IF pirTime1 < 100 THEN Main
state = 2
show = 4
CapAudio = IsOn
timer = 13
GOTO Main

Start_Audio:
IF timer > 0 THEN Main ' let audio pulse finish
CapAudio = IsOff ' turn it off
state = show ' point to show
timer = 2000 / 20 ' adjust for sound length
GOTO Main

Run_Left:
nodPos = 150 ' update head pos
swivelPos = 150
tiltPos = 150
IF timer > 0 THEN Main ' let audio finish
GOTO Reset

Run_Right:
nodPos = 150
swivelPos = 150
tiltPos = 150
IF timer > 0 THEN Main
GOTO Reset

' -----[ Subroutines ]-----------------------------------------------------

' -------------------------------------------------------------------------

' -----[ User Data ]-------------------------------------------------------

youngti · October 05, 2008, 10:23:35 AM

All I have to say is WOW! That's a lot more than I expected, thank you. I was totaly off on most of my code. I now that you have said that a how to is on your list of to do things, but is there a book that deals with PBASIC?

JonnyMac · October 05, 2008, 11:15:56 AM

Keep in mind that I have a head start on you; I started programming at 17 (I'm now 46) and I was one of the first adopters of the BS1 (core of the Prop-1) when it came out 14 years ago. Also, I write programs every day, whether I need them or not -- this is how I stay sharp and develop new tricks. I also do programming on advanced processors like the SX and sometimes apply what I learn there to the Prop-1 (your program is an example of that).

I'm one that would rather do something right than quickly so I don't think my book will be ready until next Spring. Still, there's no reason to wait on me as there are a ton of resources you could turn to. Now, some of the code you'll find isn't as clean or organized as mine, but it works and you can learn something.

* PBASIC Help file
* BS1 Application Notes: http://www.parallax.com/Portals/0/Downloads/appnt/stamps/bs1Appnotes.pdf
* Nuts & Volts articles: http://www.efx-tek.com/php/smf/index.php?topic=595.0

The key is not to wait until you have an absolute need; program all the time if you want to get good at it. Go through these forums and solve problems for others -- that's how I got really good at the BS1 way back in the pre-Internet days when Parallax had a BBS where BS1 users could post questions and answers; I downloaded the questions and uploaded the answers. Solving problems for others is a great way to improve your skills.

youngti · October 05, 2008, 12:18:01 PM

Thank you again for all the suggestions.

I'm posting the code agian as I modified it to get the look left, look right how I wanted. But I have a couple of questions. I put the audio in a sub, because I wanted the head to stay in the position during the full play. That works, but I may hve broken somthing else. Now only trigger1 is kicking in the head move and audio. And then neither trigger will kick in. Also can you tell me what value I need to change to shorten the trigger wait for another activation? The audio bits only run about 30 to 60 seconds and I wan a new mone playing a little quicker. I have read you need to be carfule because you may get false triggers, but I want to get it as close as possible.

I am very thankful for all you have helped me with. My wife, kids and the neightborhood are all excited.

' =========================================================================
'
' File...... Reaper.BS1
' Purpose...
' Author.... Jon Williams, EFX-TEK
' Copyright (c) 2008 EFX-TEK
' Some Rights Reserved
' -- see http://creativecommons.org/licenses/by/3.0/
' E-mail.... jwilliams@efx-tek.com
' Started...
' Updated... 04 OCT 2008
'
' {$STAMP BS1}
' {$PBASIC 1.0}
'
' =========================================================================

' -----[ Program Description ]---------------------------------------------

' -----[ Revision History ]------------------------------------------------

' -----[ I/O Definitions ]-------------------------------------------------

SYMBOL Trigger1 = PIN7 ' SETUP = DN
SYMBOL Trigger2 = PIN6 ' SETUP = DN
SYMBOL CapAudio = PIN3 ' white->OUT3, black->GND
SYMBOL Tilt = 2
SYMBOL Swivel = 1
SYMBOL Nod = 0

' -----[ Constants ]-------------------------------------------------------

SYMBOL IsOn = 1 ' for active-high in/out
SYMBOL IsOff = 0

SYMBOL Baud = OT2400

' -----[ Variables ]-------------------------------------------------------

SYMBOL state = B0 ' program state
SYMBOL show = B1 ' left or right
SYMBOL pirTime1 = B2 ' debounce for left PIR
SYMBOL pirTime2 = B3 ' debounce for right PIR
SYMBOL nodPos = B4 ' servo position
SYMBOL swivelPos = B5
SYMBOL tiltPos = B6

SYMBOL timer = W5 ' show timer

' -----[ Initialization ]--------------------------------------------------

Reset:
PINS = %00000000 ' clear everything
DIRS = %00001111 ' set outputs

nodPos = 190
swivelPos = 150
tiltPos = 150

state = 0
timer = 1500 ' warm-up delay

' -----[ Program Code ]----------------------------------------------------

Main:
PULSOUT Nod, nodPos
PULSOUT Swivel, swivelPos
PULSOUT Tilt, tiltPos ' not used?
PAUSE 15 ' pad for ~20 ms

IF timer = 0 THEN Run_State ' skip if expired
timer = timer - 1 ' update timer

Run_State:
BRANCH state, (Warm_Up, Check_PIRs, Start_Audio, Run_Left, Run_Right)
state = 0

Warm_Up:
IF timer > 0 THEN Main
pirTime1 = 0
pirTime2 = 0
state = 1

GOTO Main

Check_PIRs:
pirTime1 = pirTime1 + 20 * Trigger1
pirTime2 = pirTime2 + 20 * Trigger2

Check_1: ' check left PIR
IF pirTime1 < 100 THEN Check_2
state = 2
show = 3 ' save side to run
CapAudio = IsOn
timer = 13 ' 13 x 20ms = 260ms
GOTO Main

Check_2: ' check right PIR
IF pirTime1 < 100 THEN Main
state = 2
show = 4
CapAudio = IsOn
timer = 13
GOTO Main

Run_Left:
nodPos = 190 ' update head pos
swivelPos = -5
tiltPos = 150
GOSUB Start_Audio
IF timer > 0 THEN Main ' let audio finish
GOTO Reset

Run_Right:
nodPos = 180
swivelPos = 300
tiltPos = 150
GOSUB Start_Audio
IF timer > 0 THEN Main
GOTO Reset

' -----[ Subroutines ]-----------------------------------------------------
Start_Audio:
IF timer > 0 THEN Main ' let audio pulse finish
CapAudio = IsOff ' turn it off
state = show ' point to show
timer = 2000 / 20 ' adjust for sound length
RETURN

' -------------------------------------------------------------------------

' -----[ User Data ]-------------------------------------------------------

JonnyMac · October 05, 2008, 01:11:23 PM

Okay, if you're going to change my programs without understanding them then you're gonna make me mad... and we all know what happens when I get mad. ;D

Click on this link if you don't know.
-- http://www.jonmcphalen.com/common/graphics/jon_mcphalen_02.jpg

State machine programs are a different ball of wax; subroutines are not needed because each state is being handled when it should, and starting the audio player is one of the states. After the audio start pulse is terminated the timer is setup for the length of play -- you never told me how long that is (details like this are important....) so I used the 2000 milliseconds that you had. It's in this section:

Start_Audio:
IF timer > 0 THEN Main ' let audio pulse finish
CapAudio = IsOff ' turn it off
state = show ' point to show
timer = 2000 / 20 ' adjust for sound length
GOTO Main

Change the red number to the length (in milliseconds) of your sound.

The delay between shows is handled by this line in the Reset section:

timer = 1500 ' warm-up delay

You said you wanted 30 seconds; 1500 units x 20 milliseconds = 30 seconds. Take your new delay (in milliseconds) and divide it by 20; it might be easier to write the line like I did in the audio section above. Let's say you want to drop it down to 10 seconds -- do it like this:

timer = 10000 / 20 ' warm-up delay

In case you're wondering, yes, this program needs to be written the way it is because of the requirement for servos to be constantly refreshed. Interesting that the advent of servo controllers (started by Scott Edwards) followed quickly on the heels of the BASIC Stamp processor -- the idea was to take the burden of constant refreshing off the Stamp and onto the slave controller.

youngti · October 05, 2008, 01:16:27 PM

Once again I thank you, you are the master. Yes I've seen what happens when you get mad. Don't want to do that. I understand what the values do now.

JonnyMac · October 05, 2008, 01:23:43 PM

Thanks for understanding -- that's a fairly sophisticated program for a Prop-1 and I'd like to know that it works as designed. Let us know.

youngti · October 05, 2008, 02:27:26 PM

Wow, it's doing just what I wanted. Adjusting the timing does the trick. Currently I have it down to 5 secs and on the longer audio, the head will swivel to left, then right when PIR is activated.

Thank you so much, I'm going to play around with the timing.

youngti · October 29, 2015, 11:24:21 AM

Finished project.

https://youtu.be/ilNINGv1f8M

News:

Help, first program

youngti

October 04, 2008, 05:52:49 PM

JonnyMac

October 04, 2008, 07:28:40 PM #1 Last Edit: October 04, 2008, 07:31:04 PM by JonnyMac

youngti

October 05, 2008, 10:23:35 AM #2

JonnyMac

October 05, 2008, 11:15:56 AM #3

youngti

October 05, 2008, 12:18:01 PM #4

JonnyMac

October 05, 2008, 01:11:23 PM #5

youngti

October 05, 2008, 01:16:27 PM #6

JonnyMac

October 05, 2008, 01:23:43 PM #7

youngti

October 05, 2008, 02:27:26 PM #8

youngti

October 29, 2015, 11:24:21 AM #9