Subject:
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RotateMotor is stuck/nxc
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Newsgroups:
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lugnet.robotics.nxt
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Date:
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Fri, 27 Jul 2007 03:26:13 GMT
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Viewed:
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21155 times
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Symptom:
Stuck in RotateMotor function call.
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Synopsis of how to create the problem :
- 2 tasks
- Task1 handles motor A & C
- Task2 handles motor B
- Task1’s motor movements have to synchronize with the Task2’s motor B
movement
- Mutex is used.
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Code segment:
(Note: TORSO is motor B)
Task 2 :
ResetRotationCount(TORSO);
Leg = LEFT;
Acquire(FootMutex);
FootMove=MOVENOW;
Release(FootMutex);
TextOut(0, LCD_LINE2, false, "DO ROTATE"); ß- does display ok
RotateMotor (TORSO, 100, 360); ß---- stuck in this call
TextOut(0, LCD_LINE2, false, "DONE ROTATE"); ß does not display,
i.e. execution has been stuck at RotateMotor.
until (FootMove==DONE);
Task 1:
(Note: Leg will only be either motor A or C)
until (FootMove==MOVENOW);
RotateMotor (Leg, 75, LEGS_TURNING_DEG);
RotateMotor (Leg, -75, LEGS_TURNING_DEG);
Wait(1000);
Acquire(FootMutex);
FootMove=DONE;
Release(FootMutex);
TextOut(…., FootMove);ß- this shows up on the LCD fine. This tells
me that the mutex is indeed released.
So FootMove is also set to
DONE.
// note the FootMove is initialized to DONE before these tasks are invoked.
================================
How to further prove the it is hung in the RotateMotor call?
- Once I replace the RotateMotor with Wait(500); or Wait(250), etc.
The flow is fine.
--E
--
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Message has 1 Reply:
 | | RE: RotateMotor is stuck/nxc
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| Just to clarify more although it probably is very clear to most... LEGS_TURNING_DEG = some int to indicate the turning degree MOVENOW & DONE contains different integer values --E -----Original Message----- From: news-gateway@lugnet.com (...) (17 years ago, 27-Jul-07, to lugnet.robotics.nxt)
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