[Robotgroup] (no subject) -- SORRY! I accidentally hit "send" before I was done.

[LHudson]

L. Scott Hudson
 
"There are known knowns. These are things we know that we know. There are known unknowns. That is to say, there are things we know we don't know. But, there are also unknown unknowns. These are things we don't know we don't know." 
 
-- Donald Rumsfeld, describing the IBM "Rational Software" Platform

--- On Tue, 8/5/08, LHudson <lhudson73 at yahoo.com> wrote:

From: LHudson <lhudson73 at yahoo.com>
Subject: [Robotgroup] (no subject)
To: "The Robot Group Mailing List" <robotgroup at puremagic.com>
Date: Tuesday, August 5, 2008, 11:28 AM

I've included my code module as an attachment.
 
I have four pins connected to a "Mouth Module" with LEDs that light
up.  The Serial Port is tied to a DOT NET speech programming API event.  The
BS2 "listens" for the Serial data inside of a DO...LOOP:
 
DO
  '~ SERIN 16\0, BAUD, [DEC COMDATA]
  DEBUG CR, "Enter Command: "
  DEBUGIN DEC COMDATA
 
  SELECT COMDATA
    CASE CMD_Mouth_Pin2_ON: HIGH 2
    CASE CMD_Mouth_Pin2_OFF: LOW 2
    CASE CMD_Mouth_Pin1_ON: HIGH 1
    CASE CMD_Mouth_Pin1_OFF: LOW 1
    CASE CMD_Mouth_Pin4_ON: HIGH 4
    CASE CMD_Mouth_Pin4_OFF: LOW 4
    CASE CMD_Mouth_Pin5_ON: HIGH 5
    CASE CMD_Mouth_Pin5_OFF: LOW 5
  ENDSELECT
LOOP
 
I am happy to report that the mouth movement is quite realistic and
entertaining, even when tied to the Speech API Events!  I will bring this to
the Show & Tell on Thursday.  Also, this is weird, but it doesn't
matter if you use the SERIN or the DEBUGIN Code, it still works the same
whether you are using the DOT NET Serial Interface or the Stamp Editor?!
 
But okay here is my actual question:  I am having problems with the Pan &
Tilt servos that are attached to the head.  If you inspect the code attachment,
you can see the input processing to determine the servo position.  With some
experimentation, I was able to engineer it so that by inputting a command, e.g.
"1010" or "2130" I was able to position the head... not with
100% consistency, but it's a good start.
 
The problem is that if there is no command to execute the Pan & Tilt, then
the servos receive no PULSOUT.  With no charge to the motors, the slightest
bump can cause a severe case of whiplash.  My tentative solution was to put
additional PULSOUT codes before the ...LOOP:  
 
 
DO
  '~ SERIN 16\0, BAUD, [DEC COMDATA]
  DEBUG CR, "Enter Command: "
  DEBUGIN DEC COMDATA
  
 
  ENDIF
 
  PULSOUT PIN_PanTilt_Pan, POS_PanTilt_Pan
  PULSOUT PIN_PanTilt_Tilt, POS_PanTilt_Tilt
LOOP

However
 
L. Scott Hudson
 
"There are known knowns. These are things we know that we know. There are
known unknowns. That is to say, there are things we know we don't know. But,
there are also unknown unknowns. These are things we don't know we don't
know." 
 
-- Donald Rumsfeld, describing the IBM "Rational Software" Platform


      
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