Subject:
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Re: Robolab, byte codes and assembler
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Newsgroups:
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lugnet.robotics.rcx.robolab
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Date:
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Thu, 27 Nov 2003 13:39:21 GMT
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Reply-To:
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Dick Swan <dickswa@(AvoidSpam)sbcglobal.net>
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Viewed:
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9357 times
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"Don Stauffer" <BrainChild@Skyler.com> wrote in message
news:Hoz4Gp.1zto@lugnet.com...
> Having investigated rotations sensors thoroughly, I conclude
> they have some serious design flaws. ... • <<SNIP>>
> So, is there a way in Robolab to write a sub vi-like routine,
> and specify theactual byte code instructions, just for that
> time-critical part of the program, to be called by a regular
> Robolab program?
The rotation sensor bad counts cannot be fixed at the byte-code
level. The problem is "native" to implementation in the underlying
firmware code.
Several of the RCX replacement OSes have improved the rotation
sensor performance. But of course they no longer run the byte codes.
It might be feasible to patch /hack their code back into Lego's
byte-code interpreter firmware. Which raises two questions:
[1] Would this still be competition legal?
[2] When is your competition date (i.e. how soon do you need it)?
The process that might be possible is the following:
[1] Use the rotation sensor handler source code from one of
the replacement OSes. Less that 200 bytes of code.
[2] Assemble this code at some unused location within current
Lego firmware. (E380 to EE5D looks like unused locations).
[3] Make the Analog-to-digital interrupt handler routine point to
this "patch". (And also add a few other rotation handler hooks).
[4] Manually edit (via NOTEPAD or similar) the "firm0328.lgo" file
to include this patch.
[5] Download the modified "firm0328.lgo" file.
[6] Everything remains Robolab compatible.
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Message has 1 Reply:
 | | Re: Robolab, byte codes and assembler
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| Thanks for the response. (...) It seems to me it's a design flaw in the entire method of counting rotations, which relies on the theoretical ideal of "instantaneous" voltage changes, which can't be produced. You can't go from 2V to 5V without (...) (21 years ago, 27-Nov-03, to lugnet.robotics.rcx.robolab)
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Message is in Reply To:
| | Robolab, byte codes and assembler
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| Having investigated rotations sensors thoroughly, I conclude they have some serious design flaws. Most notably, some samples taken during voltage transitions can be impossible to differentiate from samples at entirely different rotational positions. (...) (21 years ago, 26-Nov-03, to lugnet.robotics.rcx.robolab)
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