Add dac2ch and pwm2ch libraries & examples, update ActivityBot 360 IR…

… following examples

Learn/Examples/Devices/Convert/Test libdac2ch.c

@@ -0,0 +1,40 @@
+/*
+  Test libdac2ch.c
+
+  Test the dac2ch library.
+*/
+
+#include "simpletools.h"
+#include "dac2ch.h"
+
+dac2ch *dacA;
+dac2ch *dacB;
+
+int main()                                    
+{
+  // Start two DAC processes, one 8-bit and one 10 bit
+  dacA = dac2ch_start(8);   
+  dacB = dac2ch_start(10);   
+
+  // Set P26 and P27 to 1.65 V, and P5 and P6 to 0.825 V.
+  dac2ch_set(dacA, 26, 0, 128);
+  dac2ch_set(dacB, 27, 0, 512);
+  dac2ch_set(dacA, 5, 1, 64);
+  dac2ch_set(dacB, 6, 1, 256);
+  pause(3000);
+
+  // Stop signals on P26 and P5 -> inputs
+  dac2ch_set(dacA, 26, 0, -1);
+  dac2ch_set(dacA, 5, 1, -1);
+  pause(3000);
+
+  // Switch outputs that were on P27 and P6 to P26 and P5.
+  dac2ch_set(dacB, 26, 0, 768);
+  dac2ch_set(dacB, 5, 1, 192);
+  pause(3000);
+
+  // End the dac2ch processes
+  dac2ch_stop(dacA);
+  dac2ch_stop(dacB);
+}  
+

Learn/Examples/Devices/Convert/Test libdac2ch.side

@@ -0,0 +1,9 @@
+Test libdac2ch.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

My Projects/Test pwm2ch/Test libpwm2ch.c → Learn/Examples/Devices/Convert/Test libpwm2ch.c

@@ -1,9 +1,7 @@
 /*
-  libpwm2ch.c
+  Test libpwm2ch.c
 
-  Drive a pair of DC motors at 6/10 of full speed.
-  
-  http://learn.parallax.com/propeller-c-tutorials
+  Test the pwm2ch library.
 */
 
 #include "simpletools.h"
@@ -14,12 +12,12 @@ pwm2ch *pwmB;
 
 int main()                                    
 {
-  // Start PWM process.  Frequency = 1 kHz -> pulse period = 1 ms.
+  // Start PWM process A.  Frequency = 1 kHz -> pulse period = 1 ms.
+  // Start PWM process B.  Frequency = 1.2 kHz -> pulse period = 0.8333.. ms.
   pwmA = pwm2ch_start(1000);   
   pwmB = pwm2ch_start(1200);   
-  //high(27);                         
 
-  // Turn motors counterclockwise for 3 s.
+  // Set all four available channels.
   pwm2ch_set(pwmA, 3, 0, 300);
   pwm2ch_set(pwmA, 4, 1, 600);
   pwm2ch_set(pwmB, 5, 0, 100);
@@ -29,40 +27,38 @@ int main()
   // Stop signals on P3 and P5 -> inputs
   pwm2ch_set(pwmA, 3, 0, -1);
   pwm2ch_set(pwmB, 5, 0, -1);
-  //low(3);
   pause(1000);
-  //input(3);
-
+
+  // Re-start channels with different duty cycles.  
   pwm2ch_set(pwmA, 3, 0, 100);
   pwm2ch_set(pwmB, 5, 0, 50);
   pause(1000);
 
+  // Turn off channels again 
   pwm2ch_set(pwmA, 3, 0, -1);
   pwm2ch_set(pwmB, 5, 0, -1);
   pause(1000);
 
+  // Move signals from other channels to P3 and P5 
   pwm2ch_set(pwmA, 3, 1, 600);
   pwm2ch_set(pwmB, 5, 1, 600);
   pause(1000);
 
+  // Move channels that were disabled to the ones just 
+  // vacated. 
   pwm2ch_set(pwmA, 4, 0, 300);
   pwm2ch_set(pwmB, 6, 0, 300);
   pause(1000);  
 
-
-
-
-
-
-
-  // Stop for 1 second.
+  // Set A process channels low.
+  // Set B process channels to inputs.
   pwm2ch_set(pwmA, 3, 0, 0);
   pwm2ch_set(pwmA, 4, 1, 0);
   pwm2ch_set(pwmB, 5, 0, -1);
   pwm2ch_set(pwmB, 6, 1, -1);
   pause(1000);
 
-  // Turn motors counterclockwise for 3 s.
+  // Restart A channels in B channels that were just vacated.
   pwm2ch_set(pwmA, 5, 0, 600);  
   pwm2ch_set(pwmA, 6, 1, 600);
   pause(3000);

Learn/Examples/Robots/ActivityBot360/IR Follow the Leader.c

@@ -8,6 +8,7 @@
 
 #include "simpletools.h"                        // Include simpletools
 #include "abdrive360.h"
+#include "abvolts.h"
 
 int irLeft, irRight;                            // Global variables
 int errorLeft, errorRight;
@@ -17,33 +18,28 @@ int kp = -12;
 
 int main()                                      // Main function
 {
-  pwm_start(255);
-
-  low(26);                                      // D/A0 & D/A1 to 0 V
-  low(27);
-
   while(1)                                      // Main loop
   {
     irLeft = 0;                                 // Detect variables to 0
     irRight = 0;
 
-    for(int da = 189; da >= 0; da -= 27)        // Sweep da pins 
+    for(int da = 112; da >= 0; da -= 16)        // Sweep da pins 
     {
-      pwm_set(26, 0, da); 
-      pwm_set(27, 1, da);
+      da_out(0, da);                            // Set IR LED cathode volts
+      da_out(1, da);
       freqout(11, 1, 38000);                    // Left IR LED light
-      irLeft += input(10);                      // Check left IR detector
+      irLeft += input(10);                      // No detect?  Add 1 to irLeft
       freqout(1, 1, 38000);                     // Repeat for right detector
       irRight += input(2);
     }   
 
-    errorLeft = setPoint - irLeft;
+    errorLeft = setPoint - irLeft;              // Error = want - measured
     errorRight = setPoint - irRight;
 
-    driveLeft = kp * errorLeft;
+    driveLeft = kp * errorLeft;                 // Output = k * error
     driveRight = kp * errorRight;
 
-    drive_speed(driveLeft, driveRight);
+    drive_speed(driveLeft, driveRight);         // Set outputs
   }
 }
 

Learn/Examples/Robots/ActivityBot360/Test IR Distances.c

@@ -8,27 +8,27 @@
 
 #include "simpletools.h"                        // Include simpletools
 #include "abdrive360.h"
+#include "abvolts.h"
 
 int irLeft, irRight;                            // Global variables
 
 int main()                                      // Main function
 {
-  pwm_start(255);
-
-  low(26);                                      // D/A0 & D/A1 to 0 V
-  low(27);
-
   while(1)                                      // Main loop
   {
     irLeft = 0;                                 // Detect variables to 0
     irRight = 0;
 
-    for(int da = 189; da >= 0; da -= 27)        // Sweep da pins 
+    // Test if an object is detected with 9 increasing levels of IR LED
+    // brightness.  Keep track of the number of times an object is NOT
+    // detected.  That's its distance value.  
+
+    for(int da = 112; da >= 0; da -= 16)        // Sweep da pins 
     {
-      pwm_set(26, 0, da); 
-      pwm_set(27, 1, da);
+      da_out(0, da);                            // Set IR LED cathode volts
+      da_out(1, da);
       freqout(11, 1, 38000);                    // Left IR LED light
-      irLeft += input(10);                      // Check left IR detector
+      irLeft += input(10);                      // No detect?  Add 1 to irLeft
       freqout(1, 1, 38000);                     // Repeat for right detector
       irRight += input(2);
     }   

Learn/Simple Libraries Index.html

@@ -118,6 +118,18 @@ <h3 style="font-family:verdana;">Convert</h3>
 </p>
 </blockquote>
 
+<p>
+<blockquote>
+<a href="Simple%20Libraries/Convert/libdac2ch/Documentation%20dac2ch%20Library.html" target="_blank">dac2ch.h</a> - Up to 2 Channels per cog of D/A signals.  Supports multiple cogs.
+</p>
+</blockquote>
+
+<p>
+<blockquote>
+<a href="Simple%20Libraries/Convert/libpwm2ch/Documentation%20pwm2ch%20Library.html" target="_blank">pwm2ch.h</a> - Up to 2 Channels per cog of PWM signals.  Supports multiple cogs.
+</p>
+</blockquote>
+
 
 
 <h3 style="font-family:verdana;">Display</h3>