I have attached the HB to a formerly radio controled car. I built an h
brigde as described on wizard.org to control the motor. Anway.... all is
going well, I have written routines to control the motor. Still sounds
great... Until I get to uploading them into the HB using IC 2.853-Rev2. I
get a:
Fatal Internal Error
Illegal size to spew push-op
and then it shuts down. I have never had this problem before and I don't
know what to do about it. Are the upload files only allowed to be so big?
Here is the exact contents of the file I am trying to upload. The variable
'motor' is the number of the motor output of the HB which my steering motor
is connected to. I have connected the reverse and forward control wires of
the HB to SCK and MOSI.
void fd_left(int on, int off, int motor,int turnlen)
{
turn(on,off,motor,turnlen, -1,1);
}
void fd_right(int on, int off, int motor,int turnlen)
{
turn(on,off,motor,turnlen, 1,1);
}
void bk_left(int on, int off, int motor,int turnlen)
{
turn(on,off,motor,turnlen, -1,-1);
}
void bk_right(int on, int off, int motor,int turnlen)
{
turn(on,off,motor,turnlen, 1,-1);
}
void forward(int on, int off, int len)
{
turn(on,off,0,len,0,1);
}
void backward(int on, int off, int len)
{
turn(on,off,0,len,0,-1);
}
void turn(int on, int off, int motor,int turnlen, int turndir, int dir)
{
int i=0;
char direction;
if(dir>0)
direction = 0x08;
else
direction = 0x10;
if(motor >= 0 && motor <4)
{
bit_set(0x1009, 0x3c);
bit_clear(0x1008, 0x08);
bit_clear(0x1008, 0x10);
if(turndir != 0)
{
if(turndir > 0)
bk(motor);
else
fd(motor);
}
while(i < turnlen)
{
bit_set(0x1008,direction);
msleep((long)on);
bit_clear(0x1008,direction);
msleep((long)off);
i++;
}
ao();
}
}
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