Problem im Programm zur Ansteuerung meines Bots mit RP5 Chas

**daviid** · 17.08.2010, 18:39

Hallo,

Ich hab mir gestern die Teile für meinen ersten Bot bestellt, und zwar das Fahrgestell des RP5 und lauter kleinkrams, angesteuert wird das ganze von meiner eigenen Steuerung gesteuert, bestehend vorerst aus nem Mega 16 und nem L293 als Hauptsteuerung, der rest is ersmal uninterresant.

Hab mir folgenden Code geschrieben:

Code:

'Uart Protokoll:
'Drive : R_l -pwm_l -r_r -pwm_r
'drive:1-120-1-130


$regfile = "m16def.dat"
$crystal = 16000000
$baud = 9600



Config Serialin = Buffered , Size = 30 , Bytematch = 13
Declare Sub Serial0charmatch()



'Config Outputs


   Config Portc.4 = Output                                  'M_left1a
   M_left1a Alias Portc.4
   Config Portc.5 = Output                                  'M_left2a
   M_left2a Alias Portc.5
   Config Portc.6 = Output                                  'M_left3a
   M_left3a Alias Portc.6
   Config Portc.7 = Output                                  'M_left4a
   M_left4a Alias Portc.7


   'Declare Motor-PWM
   Config Portb.0 = Output                                  'm-left-enable
   M_left_e Alias Portb.0
   Config Portb.1 = Output                                  'm-right-enable
   M_right_e Alias Portb.1


'Config Inputs
   Config Portd.2 = Input                                   'emergency-out
   Em_out Alias Portc.0
   Em_out = 1                                               'enable pullup


'Config Interrupts
   Config Int0 = Falling                                       'fallende Flanke
   On Int0 On_em_out
   Enable Int0


Enable Interrupts


'Config Var's
Dim Tmp As Byte
Dim New_command As String * 30
Dim Incoming_array(5) As String * 30
Dim Command_array(5) As String * 30
Dim New_status As Bit

Dim Pwm_1 As Integer
Dim Pwm_2 As Integer


Dim Drive_command(4) As String * 15



Do

   If New_command <> "" Then

      New_command = Ucase(new_command)

      'Anweisung aufteilen
      Tmp = Split(new_command , Command_array(1) , ":")

      Select Case Command_array(1)
         Case "DRIVE"
         Tmp = Split(command_array(2) , Command_array(1) , "-")
             Drive_command(1) = Command_array(1)
             Drive_command(2) = Command_array(2)
             Drive_command(3) = Command_array(3)
             Drive_command(4) = Command_array(4)

             Gosub Exc_drive

         Case Else
            Print "ERROR: unknown command"
      End Select

   New_command = ""
   End If


Loop
End



Sub Serial0charmatch()

   Input New_command Noecho
   Print New_command

End Sub


Exc_drive:
   If Drive_command(1) = "1" Then Gosub Forward_left        'drive forward
   If Drive_command(1) = "0" Then Gosub Backward_left       'drive backward

   If Drive_command(3) = "1" Then Gosub Forward_right       'drive forward
   If Drive_command(3) = "0" Then Gosub Backward_right      'drive backward

   Pwm_1 = Val(drive_command(2))
   Pwm_2 = Val(drive_command(4))

   Pwm1a = Pwm_1
   Pwm1b = Pwm_2

   Print "exc_drive " ; Drive_command(1) ; " " ; Drive_command(2) ; " " ; Drive_command(3) ; " " ; Drive_command(4)

Return



Forward_left:
   M_left1a = 1
   M_left2a = 0
Return


Backward_left:
   M_left1a = 0
   M_left2a = 1
Return


Forward_right:
   M_left4a = 1
   M_left3a = 0
Return


Backward_right:
   M_left4a = 0
   M_left3a = 1
Return

Theoretisch sollte also wenn ich übern UART "drive:1-130-1-120" eingeb auf PWM1a 130 stehen und bei PWM1b 120 im Simulator, tuts aber nich, da steht immer null.

Hat jemand ne Idee warum?

Edit:
Hab den Fehler nach langem überlegen selber gefunden, mal wieder total banal ...

Code:

      Tmp = Split(new_command , Command_array(1) , ":")

      Select Case Command_array(1)
         Case "DRIVE"
         Tmp = Split(command_array(2) , Command_array(1) , "-")

Und zwar wird da beim zweiten splitten das command_array wieder überschrieben.

Hab das ganze nun so gelöst:

Code:

Tmp = Split(new_command , Incoming_array(1) , ":")

      Select Case Incoming_array(1)
         Case "DRIVE"
         Tmp = Split(incoming_array(2) , Command_array(1) , "-")

Gruß
David[/code]