Subject:
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FW: RotateMotorEx hangs
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Newsgroups:
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lugnet.robotics.nxt
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Date:
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Thu, 9 Aug 2007 13:44:47 GMT
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Viewed:
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22166 times
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Thank you to both John and Roger, I'll try it out later next week.
--Elizabeth
-----Original Message-----
From: news-gateway@lugnet.com [mailto:news-gateway@lugnet.com] On Behalf Of
John Hansen
Sent: Wednesday, August 08, 2007 6:20 PM
To: lugnet.robotics.nxt@lugnet.com
Subject: Re: RotateMotorEx hangs
In lugnet.robotics.nxt, Roger Glassey wrote:
> In lugnet.robotics.nxt, Elizabeth Mabrey wrote:
> > Subject: RE: Idea on how to interrupt RotateMotor?
>
> Hi Elizabeth:
> Here is how you could do it in Java:
<snipped>
The RotateMotor call is designed to block. If you don't want to block then
you
can write code almost exactly like what Roger wrote in Java using other NXC
API
calls. Like so:
#define UF_TLSM UF_UPDATE_TACHO_LIMIT+UF_UPDATE_SPEED+UF_UPDATE_MODE
#define OM_RBM OUT_MODE_REGULATED+OUT_MODE_BRAKE+OUT_MODE_MOTORON
task main()
{
SetSensorLight(S1);
TextOut(0, LCD_LINE1, "wait for dark");
SetOutput(OUT_A, Power, 75, TachoLimit, 3600, RegMode, OUT_REGMODE_SPEED,
RunState, OUT_RUNSTATE_RUNNING, OutputMode, OM_RBM,
UpdateFlags, UF_TLSM);
// wait for dark or 10 revolutions
while((MotorRunState(OUT_A) == OUT_RUNSTATE_RUNNING) && (SENSOR_1 > 40));
Off(OUT_A);
NumOut(0, LCD_LINE2, MotorTachoCount(OUT_A));
Wait(10000); // to see the value on screen
}
The NXT firmware takes care of regulating the motor and it will stop
automatically at 3600 degrees. The SetOutput call can easily be wrapped
into
any number of preprocessor macros or user-defined functions to further
simplify
what is already trivially easy in NXC. The SetOutput call can take a
variable
number of arguments so you can set any number of output fields that you want
in
a single call. For synchronization just pass in OUT_AB or one of the other
paired motor constants and set the RegMode to OUT_REGMODE_SYNC instead of
OUT_REGMODE_SPEED.
John Hansen
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