Run up to 4 fb360 servos sans jitter (close issues 93 & 94)

Issues closed:
servo360 - increase number of servos supported #93
#93
servo360 - remove remove jitter from servo signal #94
#94

Learn/Examples/Devices/Motor/Servo360/Set Angles 1 servo.c

@@ -0,0 +1,35 @@
+/*
+  Set Angles.c
+  
+  Turns to and holds positions.  
+  Behaves like a standard RC servo when it reaches a given angle.
+*/
+
+#include "simpletools.h"
+#include "servo360.h"
+
+int main()
+{
+  // Connect is required before control.  The first argument is the I/O pin 
+  // connected to the white control line, and the second is the I/O pin connected
+  // to the yellow feedback line.
+  //servo360_connect(12, 14);
+  servo360_connect(13, 15);
+  pause(1000);
+
+  //servo360_angle(12, 0);
+  servo360_angle(13, 0);
+  pause(1000);
+
+  //servo360_angle(12, 45);
+  servo360_angle(13, -45);
+  pause(1500);
+
+  //servo360_angle(12, 360 + 45);
+  servo360_angle(13, -360 -45);
+  pause(2500);
+
+  //servo360_angle(12, 0);
+  servo360_angle(13, 0);
+  pause(1000);
+}

Learn/Examples/Devices/Motor/Servo360/Set Angles.side → Learn/Examples/Devices/Motor/Servo360/Set Angles 1 servo.side

@@ -1,9 +1,9 @@
-Set Angles.c
->compiler=C
->memtype=cmm main ram compact
->optimize=-Os
->-m32bit-doubles
+Set Angles 1 servo.c
 >-fno-exceptions
->defs::-std=c99
 >-lm
+>-m32bit-doubles
 >BOARD::ACTIVITYBOARD
+>compiler=C
+>defs::-std=c99
+>memtype=cmm main ram compact
+>optimize=-Os

Learn/Examples/Devices/Motor/Servo360/Set Angles 2 servos.side

@@ -0,0 +1,9 @@
+Set Angles 2 servos.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Devices/Motor/Servo360/Set Angles 3 servos.c

@@ -0,0 +1,42 @@
+/*
+  Set Angles.c
+  
+  Turns to and holds positions.  
+  Behaves like a standard RC servo when it reaches a given angle.
+*/
+
+#include "simpletools.h"
+#include "servo360.h"
+
+int main()
+{
+  // Connect is required before control.  The first argument is the I/O pin 
+  // connected to the white control line, and the second is the I/O pin connected
+  // to the yellow feedback line.
+  int s1 = servo360_connect(12, 14);
+  int s2 = servo360_connect(13, 15);
+  int s3 = servo360_connect(16, 6);
+  //int s3 = 0;
+  print("devcount = %d, s1 = %d, s2 = %d, s3 = %d\r", s1, s2, s3, devCount);
+  pause(1000);
+
+  servo360_angle(12, 0);
+  servo360_angle(13, 0);
+  servo360_angle(16, 0);
+  pause(1000);
+
+  servo360_angle(12, 45);
+  servo360_angle(13, -45);
+  servo360_angle(16, 45);
+  pause(1500);
+
+  servo360_angle(12, 360 + 45);
+  servo360_angle(13, -360 -45);
+  servo360_angle(16, 360 + 45);
+  pause(2500);
+
+  servo360_angle(12, 0);
+  servo360_angle(13, 0);
+  servo360_angle(16, 0);
+  pause(1000);
+}

Learn/Examples/Devices/Motor/Servo360/Set Angles 3 servos.side

@@ -0,0 +1,9 @@
+Set Angles 3 servos.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Devices/Motor/Servo360/Set Angles 4 servos.c

@@ -0,0 +1,47 @@
+/*
+  Set Angles.c
+  
+  Turns to and holds positions.  
+  Behaves like a standard RC servo when it reaches a given angle.
+*/
+
+#include "simpletools.h"
+#include "servo360.h"
+
+int main()
+{
+  // Connect is required before control.  The first argument is the I/O pin 
+  // connected to the white control line, and the second is the I/O pin connected
+  // to the yellow feedback line.
+  int s1 = servo360_connect(12, 14);
+  int s2 = servo360_connect(13, 15);
+  int s3 = servo360_connect(16, 6);
+  int s4 = servo360_connect(17, 7);
+  //int s3 = 0;
+  print("devcount = %d, s1 = %d, s2 = %d, s3 = %d, s4 = %d\r", s1, s2, s3, s4, devCount);
+  pause(1000);
+
+  servo360_angle(12, 0);
+  servo360_angle(13, 0);
+  servo360_angle(16, 0);
+  servo360_angle(17, 0);
+  pause(1000);
+
+  servo360_angle(12, 45);
+  servo360_angle(13, -45);
+  servo360_angle(16, 45);
+  servo360_angle(17, -45);
+  pause(1500);
+
+  servo360_angle(12, 360 + 45);
+  servo360_angle(13, -360 -45);
+  servo360_angle(16, 360 + 45);
+  servo360_angle(17, -360 - 45);
+  pause(2500);
+
+  servo360_angle(12, 0);
+  servo360_angle(13, 0);
+  servo360_angle(16, 0);
+  servo360_angle(17, 0);
+  pause(1000);
+}

Learn/Examples/Devices/Motor/Servo360/Set Angles 4 servos.side

@@ -0,0 +1,9 @@
+Set Angles 4 servos.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Robots/ActivityBot360/Dev/IR Roaming at slower speeds.c

@@ -0,0 +1,40 @@
+/*
+  IR Roaming.c
+
+  Use IR LED and IR receiver pairs as object detectors for robot roaming.
+
+  http://learn.parallax.com/activitybot/roaming-infrared-flashlights
+*/
+
+#include "simpletools.h"                        // Library includes
+#include "abdrive360.h"
+
+int irLeft, irRight;                            // IR variables
+
+int main()                                      // Main function
+{
+  low(26);                                      // D/A0 & D/A1 to 0 V
+  low(27);
+
+  drive_setRampStep(12);                        // Max step 12 ticks/s every 20 ms
+  drive_setMaxVelocity(FOR_SPEED, 96);
+
+
+  while(1)
+  {
+    freqout(11, 1, 38000);                      // Check left & right objects
+    irLeft = input(10);
+
+    freqout(1, 1, 38000);
+    irRight = input(2);
+
+    if(irRight == 1 && irLeft == 1)             // No obstacles?
+      drive_rampStep(128, 128);                 // ...full speed ahead
+    else if(irLeft == 0 && irRight == 0)        // Left & right obstacles?
+      drive_rampStep(-128, -128);               // ...full speed reverse
+    else if(irRight == 0)                       // Just right obstacle?
+      drive_rampStep(-128, 128);                // ...rotate left
+    else if(irLeft == 0)                        // Just left obstacle?
+      drive_rampStep(128, -128);                // ...rotate right
+  }
+}

Learn/Examples/Robots/ActivityBot360/Dev/IR Roaming at slower speeds.side

@@ -0,0 +1,9 @@
+IR Roaming at slower speeds.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Robots/ActivityBot360/Dev/Test Encoder Connections (1).c

@@ -0,0 +1,28 @@
+/*
+  Test Encoder Connections.c
+
+  Load to ActivityBot EEPROM. PWR to Position 2.
+  Gently turn each wheel by hand.  Right wheel
+  blinks P27 LED, left wheel blinks P26 LED.
+  If not, encoders are not seeing wheel spokes.
+  Go to Extras/Troubleshooting section of tutorial.
+
+  http://learn.parallax.com/activitybot/test-encoder-connections
+*/
+
+#include "simpletools.h"
+#include "abdrive360.h"
+
+int main()                    
+{
+  low(26);
+  low(27);
+  while(1)
+  {
+    int ticksLeft, ticksRight;
+    drive_getTicks(&ticksLeft, &ticksRight);
+    set_output(26, ticksLeft % 2);
+    set_output(27, ticksRight % 2);
+  }
+}
+

Learn/Examples/Robots/ActivityBot360/Dev/Test Encoder Connections (1).side

@@ -0,0 +1,9 @@
+Test Encoder Connections (1).c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Robots/ActivityBot360/Dev/drive_goto tests 3 servos.c

@@ -0,0 +1,34 @@
+/* 
+  Forward Stop Face Right.c
+
+  http://learn.parallax.com/activitybot/go-certain-distances
+*/
+
+
+#include "simpletools.h"
+#include "abdrive360.h"
+
+int main()                    
+{
+  /*
+  #ifdef _console_
+    console_start();
+    suppressFbDisplay = 0;
+  #endif 
+  */
+
+  drive_goto(192, 192);
+  servo360_connect(16, 6);
+  servo360_speed(16, 90);
+  drive_goto(-28, 28);
+  drive_goto(28 * 2, -28 * 2);
+  drive_goto(-28, 28);
+  drive_goto(-192, -192);
+  servo360_speed(16, -90);
+
+  drive_goto(192, 128);
+  drive_goto(-192, -128);
+  drive_goto(128, 192);
+  drive_goto(-128, -192);
+  servo360_speed(16, 0);
+}

Learn/Examples/Robots/ActivityBot360/Dev/drive_goto tests 3 servos.side

@@ -0,0 +1,9 @@
+drive_goto tests 3 servos.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Robots/ActivityBot360/Dev/drive_goto tests with setMaxVelocity (1).c

@@ -0,0 +1,21 @@
+
+#include "simpletools.h"
+#include "abdrive360.h"
+
+int main()                    
+{
+  drive_setMaxVelocity(FOR_GOTO, 96);
+  drive_goto(192, 192);
+  drive_setMaxVelocity(FOR_GOTO, 64);
+  drive_goto(-28, 28);
+  drive_goto(28 * 2, -28 * 2);
+  drive_goto(-28, 28);
+  drive_goto(-192, -192);
+
+  drive_setMaxVelocity(FOR_GOTO, 32);
+
+  drive_goto(192, 128);
+  drive_goto(-192, -128);
+  drive_goto(128, 192);
+  drive_goto(-128, -192);
+}

Learn/Examples/Robots/ActivityBot360/Dev/drive_goto tests with setMaxVelocity (1).side

@@ -0,0 +1,9 @@
+drive_goto tests with setMaxVelocity (1).c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Robots/ActivityBot360/Dev/drive_goto tests with setMaxVelocity.c

@@ -0,0 +1,20 @@
+#include "simpletools.h"
+#include "abdrive360.h"
+
+int main()                    
+{
+  drive_setMaxVelocity(FOR_GOTO, 96);
+
+  drive_goto(192, 192);
+  drive_goto(-28, 28);
+  drive_goto(28 * 2, -28 * 2);
+  drive_goto(-28, 28);
+  drive_goto(-192, -192);
+
+  drive_setMaxVelocity(FOR_GOTO, 32);
+
+  drive_goto(192, 128);
+  drive_goto(-192, -128);
+  drive_goto(128, 192);
+  drive_goto(-128, -192);
+}

Learn/Examples/Robots/ActivityBot360/Dev/drive_goto tests with setMaxVelocity.side

@@ -0,0 +1,9 @@
+drive_goto tests with setMaxVelocity.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD