Subject:
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Re: Q: Determining state of outputs
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Newsgroups:
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lugnet.robotics.rcx.nqc
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Date:
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Fri, 14 Apr 2000 02:17:57 GMT
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In article <FsyMxD.1Fx@lugnet.com>, "Oliver Petermann" <peppo.p@gmx.at>
wrote:
> Hello everybody!
>
> For the building of my next robot an answer to the following question
> could
> be very helpful:
>
> Is there any possibility in NQC to get the state of an output (on, off,
> direction). While running a program I would like to control one output
> directly by the IR-remote. The program needs to know whether the
> (directly
> controlled) output is on or off. Information about the direction of the
> attached motor would be perfect.
Yes, there is a 'data source' for motor status. I never bothered
figuring it all out, so there isn't a defined API for it, but you can
add it yourself:
#define MotorStatus(motor) @(0x30000 + (motor))
use motor 0 for output A, 1 for B, 2 for C.
The returned value is 8 bits of the form:
mmxxdppp
where mm = mode
0 = float
1 = off
2 = on
3 = on from remote?
xx = ? seems to be the motor number, not sure why
d = direction (0 = reverse, 1 = forward)
ppp = power level
Most of this is from some of my early (and somewhat unreadable) notes,
so I'm not sure its accurate. For one thing, from the RCX 2.0 alpha SDK
it seems that they treat remote commands a little different - using xx
for something called an "overlay". I haven't experimented with this
under 2.0 yet.
Here's a little test program...it keeps monitoring motor 0 and will beep
(and store the motor status value) when it is in some mode other than
Off:
--
int x, y;
#define MotorStatus(x) @(0x30000 + (x))
task main() {
while(true)
{
x = MotorStatus(0);
if ((x & 0xc0) != 0x40)
{
PlaySound(0);
y = x;
}
}
}
--
The stored value (in variable y) can be read on the host computer using
the following nqc command:
nqc -raw 120001
I hope this helps.
Dave Baum
--
reply to: dbaum at enteract dot com
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Message has 1 Reply:
Message is in Reply To:
 | | Q: Determining state of outputs
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| Hello everybody! For the building of my next robot an answer to the following question could be very helpful: Is there any possibility in NQC to get the state of an output (on, off, direction). While running a program I would like to control one (...) (25 years ago, 13-Apr-00, to lugnet.robotics.rcx.nqc)
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