Add a clear calibration settings option and update calibration messages

360 Dev/ActivityBot360/ActivityBot360 Modified/ActivitiyBot Clear Calibration Settings.c

@@ -0,0 +1,16 @@
+/* 
+  ActivityBot Display Calibration Results.c
+
+  Clear calibration data.  ActivityBot360 will use default values
+  and may not perform as well.
+*/
+
+#include "simpletools.h"
+#include "servo360.h"
+#include "abcalibrate360.h"
+
+int main()                   
+{
+  cal_clear();
+}
+

360 Dev/ActivityBot360/ActivityBot360 Modified/ActivitiyBot Clear Calibration Settings.side

@@ -0,0 +1,9 @@
+ActivitiyBot Clear Calibration Settings.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

360 Dev/Servo360/Servo360 Modified/Find upper and lower Zero Speed Cutoff Pulse Durations (1).c

@@ -13,20 +13,18 @@ int main()
   servo360_connect(12, 14);
   servo360_feedback(12, 0);
 
-  int n, y1, y2, x1, x2; 
-  int mVccw, mVcw, bVccw, bVcw;
-  int increases = 0, decreases = 0;
-  int angle = servo360_getAngle(12);
-  int anglep = angle;
-  int diffCount = 0;
+  int n, x, angle, angleP; 
+  int mVccwL, mVcwL, bVccwL, bVcwL;
+  int mVccwR, mVcwR, bVccwR, bVcwR;
+  int increases = 0, decreases = 0, diffCount = 0;
 
   servo360_set(12, 1500+240);
   pause(2000);
-  x1 = servo360_getAngle12Bit(12);
-  print("x1 = %d\r", x1);
+  x = servo360_getAngle12Bit(12);
+  print("x = %d\r", x);
   pause(1000);
-  x1 = servo360_getAngle12Bit(12) - x1;
-  print("x1 = %d\r", x1);
+  x = servo360_getAngle12Bit(12) - x;
+  print("x = %d\r", x);
   //x1 &= 0xFFF;
   //print("x1 = %d\r", x1);
 
@@ -35,38 +33,39 @@ int main()
   pause(2000);
 
   angle = servo360_getAngle(12);
-  anglep = angle;
+  angleP = angle;
 
   for(n = 0; n < 60; n++)
   {
     servo360_set(12, 1500 + n);
     angle = servo360_getAngle(12);
     print("angle = %d\r", angle);
-    if(angle != anglep) increases++;
+    if(angle != angleP) increases++;
     if(increases > 3) break;
     pause(20);
+    angleP = angle;
   }  
 
-  bVccw = (n - 4) * 10 * 2 / 3;
-  print("bVccw = %d\r", bVccw); 
+  bVccwL = (n - 4) * 10 * 2 / 3;
+  print("bVccwL = %d\r", bVccwL); 
 
   servo360_set(12, 1500);
 
-  mVccw = 1000 * (2200 - 266) / x1;
+  mVccwL = 1000 * (2200 - bVccwL) / x;
 
-  print("mVccw = %d\r", mVccw); 
+  print("mVccwL = %d\r", mVccwL); 
 
 
   // Left servo clockwise
 
 
   servo360_set(12, 1500-240);
   pause(2000);
-  x1 = servo360_getAngle12Bit(12);
-  print("x1 = %d\r", x1);
+  x = servo360_getAngle12Bit(12);
+  print("x = %d\r", x);
   pause(1000);
-  x1 = abs(servo360_getAngle12Bit(12) - x1);
-  print("x1 = %d\r", x1);
+  x = abs(servo360_getAngle12Bit(12) - x);
+  print("x = %d\r", x);
   //x1 &= 0xFFF;
   //print("x1 = %d\r", x1);
 
@@ -75,28 +74,122 @@ int main()
   pause(2000);
 
   angle = servo360_getAngle(12);
-  anglep = angle;
+  angleP = angle;
 
   for(n = 0; n > -60; n--)
   {
     servo360_set(12, 1500 + n);
     angle = servo360_getAngle(12);
     print("angle = %d\r", angle);
-    if(angle != anglep) decreases++;
+    if(angle != angleP) decreases++;
     if(decreases > 3) break;
     pause(20);
+    angleP = angle;
   }  
 
-  bVcw = abs((n + 4) * 10 * 2 / 3);
-  print("bVcw = %d\r", bVcw); 
+  bVcwL = abs((n + 4) * 10 * 2 / 3);
+  print("bVcwL = %d\r", bVcwL); 
 
   servo360_set(12, 1500);
 
-  mVcw = 1000 * (2200 - 266) / x1;
+  mVcwL = 1000 * (2200 - bVcwL) / x;
 
-  print("mVccw = %d\r", mVcw); 
+  print("mVccwL = %d\r", mVcwL); 
 
-  while(1);
+
+  // Right servo counterclockwise
+
+  servo360_connect(13, 15);
+  servo360_feedback(13, 0);
+
+  servo360_set(13, 1500+240);
+  pause(2000);
+  x = servo360_getAngle12Bit(13);
+  print("x = %d\r", x);
+  pause(1000);
+  x = servo360_getAngle12Bit(13) - x;
+  print("x = %d\r", x);
+  //x1 &= 0xFFF;
+  //print("x1 = %d\r", x1);
+
+  servo360_set(13, 1500);
+
+  pause(2000);
+
+  angle = servo360_getAngle(13);
+  angleP = angle;
+  increases = 0;
+
+  for(n = 0; n < 60; n++)
+  {
+    servo360_set(13, 1500 + n);
+    angle = servo360_getAngle(13);
+    print("angle = %d\r", angle);
+    if(angle != angleP) increases++;
+    if(increases > 3) break;
+    pause(20);
+    angleP = angle;
+  }  
+
+  bVccwR = (n - 4) * 10 * 2 / 3;
+  print("bVccwR = %d\r", bVccwR); 
+
+  servo360_set(13, 1500);
+
+  mVccwR = 1000 * (2200 - bVccwR) / x;
+
+  print("mVccwR = %d\r", mVccwR); 
+
+
+  // Right servo clockwise
+
+
+  servo360_set(13, 1500-240);
+  pause(2000);
+  x = servo360_getAngle12Bit(13);
+  print("x = %d\r", x);
+  pause(1000);
+  x = abs(servo360_getAngle12Bit(13) - x);
+  print("x1 = %d\r", x);
+  //x1 &= 0xFFF;
+  //print("x1 = %d\r", x1);
+
+  servo360_set(13, 1500);
+
+  pause(2000);
+
+  angle = servo360_getAngle(13);
+  angleP = angle;
+  decreases = 0;
+
+  for(n = 0; n > -60; n--)
+  {
+    servo360_set(13, 1500 + n);
+    angle = servo360_getAngle(13);
+    print("angle = %d\r", angle);
+    if(angle != angleP) decreases++;
+    if(decreases > 3) break;
+    pause(20);
+    angleP = angle;
+  }  
+
+  bVcwR = abs((n + 4) * 10 * 2 / 3);
+  print("bVcwR = %d\r", bVcwR); 
+
+  servo360_set(13, 1500);
+
+  mVcwR = 1000 * (2200 - bVcwR) / x;
+
+  print("mVcwR = %d\r", mVcwR); 
 
+  print("\r=== Summary ===\r", mVcwR); 
+  print("mVccw = %d\r", mVccwL); 
+  print("bVccwL = %d\r", bVccwL); 
+  print("mVcwL = %d\r", mVcwL); 
+  print("bVcwL = %d\r", bVcwL); 
+  print("mVccwR = %d\r", mVccwR); 
+  print("bVccwR = %d\r", bVccwR); 
+  print("mVcwR = %d\r", mVcwR); 
+  print("bVcwR = %d\r", bVcwR); 
 
 }

Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.c

@@ -0,0 +1,16 @@
+/* 
+  ActivityBot Display Calibration Results.c
+
+  Clear calibration data.  ActivityBot360 will use default values
+  and may not perform as well.
+*/
+
+#include "simpletools.h"
+#include "servo360.h"
+#include "abcalibrate360.h"
+
+int main()                   
+{
+  cal_clear();
+}
+

Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.side

@@ -0,0 +1,9 @@
+ActivitiyBot Clear Calibration Settings.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.c

@@ -0,0 +1,17 @@
+/* 
+  ActivityBot Display Calibration Results.c
+
+  Display interpolation table values from calibration
+
+  http://learn.parallax.com/activitybot/calibrate-your-activitybot
+*/
+
+#include "simpletools.h"
+#include "servo360.h"
+#include "abcalibrate360.h"
+
+int main()                   
+{
+  cal_displayResults();
+}
+

Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.side

@@ -0,0 +1,9 @@
+ActivitiyBot Display Calibration Results.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.c

@@ -0,0 +1,16 @@
+/* 
+  ActivityBot Display Calibration.c
+
+  Display interpolation table values from calibration
+
+  http://learn.parallax.com/activitybot/calibrate-your-activitybot
+*/
+
+#include "simpletools.h"
+#include "servo360.h"
+#include "abcalibrate360.h"
+
+int main()                   
+{
+  cal_displayData();
+}

Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.side

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

Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.c

@@ -0,0 +1,23 @@
+/* 
+  ActivityBot Calibrate.c
+
+  Calibrate the ActivityBot's servos and encoders
+
+  http://learn.parallax.com/activitybot/calibrate-your-activitybot
+*/
+
+#include "simpletools.h"
+#include "servo360.h"
+#include "abcalibrate360.h"    
+
+int main()
+{
+  cal_servoPins(12, 13);
+  cal_encoderPins(14, 15);
+
+  high(26);
+  high(27);
+  cal_activityBot();
+  low(26);
+  low(27);
+}

Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.side

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

Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.c

@@ -358,8 +358,8 @@ void cal_displayData(void)
   }   
   else
   {
-    print("There was a problem with the calibration.\r");
-    print("Try cal_displayResults() instead.\r");
+    print("Calibration data either not found or has errors.\r");
+    print("Try cal_displayResults() for more info.\r");
     print("\rRaw data from EEPROM:\r\r");
     for(int a = _AB360_EE_Start_; a < _AB360_EE_End_; a++)
     {
@@ -410,14 +410,14 @@ void cal_displayResults(void)
   {
     print("Calibration started but did not complete.\r");
     print("Verify the servo and encoder connections\r");
-    print("against the ones in the diagram and try\r");
+    print("against the ones in the diagrams and try\r");
     print("again. Follow the instructions carefully.\r");
     //return -1;
   }   
   else if(!strcmp(str, "ActivityBot"))
   {
     print("There is a non-servo360 ActivityBot calibration.\r");
-    print("in the EEPROM.  Maek sure to follow the instructions\r");
+    print("in the EEPROM.  Make sure to follow the instructions\r");
     print("for calibrating the ActivityBot360.\r");
     //return -1;
   }   
@@ -479,6 +479,14 @@ void cal_displayResults(void)
   */ 
 }
 
+
+void cal_clear(void)
+{
+  for(int addr = _AB360_EE_Start_; addr <_AB360_EE_End_; addr++)
+  {
+    ee_putByte(0xFF, addr); 
+  }    
+}