abdrive360/servo360 - try EEPROM calibration / transfer function adju…

…sting functions #151

Implements calibration.  ActivityBot example programs for calibration and displaying calibration settings and results ported to ActivityBot360.

360 Dev/ActivityBot360/ActivityBot360 Modified/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();
+}
+

360 Dev/ActivityBot360/ActivityBot360 Modified/ActivitiyBot Display Calibration Results.side

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

360 Dev/ActivityBot360/ActivityBot360 Modified/ActivitiyBot Display Calibration.c

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+/* 
+  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();
+}

360 Dev/ActivityBot360/ActivityBot360 Modified/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

360 Dev/ActivityBot360/ActivityBot360 Modified/ActivityBot Calibrate.c

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+/* 
+  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);
+}

360 Dev/ActivityBot360/ActivityBot360 Modified/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

360 Dev/ActivityBot360/ActivityBot360 Modified/drive_goto variations (6).c

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+/* 
+  drive_goto variations.c
+
+  This code demonstrates the problem in ActivityBots with servos that both have 
+  the similar zero speed deadband offsets near the allowable limits. Example 
+  instead of 1480 to 1520, both servos hare 1490 to 1530 us zero speed deadbands.
+
+  The monitor (with SimpleIDE Terminal) functions have no effect unless you build 
+  the libservo360 project with this un-commented:
+
+    #define _servo360_monitor_
+
+  For best results, use the Parallax WX ESP8266 WiFi Module - DIP for programming
+  and terminal display.  
+  https://www.parallax.com/product/32420d
+
+  Make sure to re-comment it when done because it takes a signfiicant program memory.
+  
+*/
+
+#include "simpletools.h"
+#include "abdrive360.h"
+
+int main()                    
+{
+  drive_speed(0, 0);
+  pause(1000);
+  servo360_monitorRun();
+  pause(1000);
+
+  /*
+  servo360_setTransferFunction(12, S360_SETTING_VM_CCW, 202);
+  servo360_setTransferFunction(12, S360_SETTING_VB_CCW, 280);
+  
+  servo360_setTransferFunction(12, S360_SETTING_VM_CW, 215);
+  servo360_setTransferFunction(12, S360_SETTING_VB_CW, -126 );
+
+  servo360_setTransferFunction(13, S360_SETTING_VM_CCW, 204 );
+  servo360_setTransferFunction(13, S360_SETTING_VB_CCW, 273);
+
+  servo360_setTransferFunction(13, S360_SETTING_VM_CW, 214);
+  servo360_setTransferFunction(13, S360_SETTING_VB_CW, -146);
+  */
+
+
+  servo360_setTransferFunction(12, S360_SETTING_VM_CCW, 204);
+  servo360_setTransferFunction(12, S360_SETTING_VB_CCW, 273);
+
+  servo360_setTransferFunction(12, S360_SETTING_VM_CW, 215);
+  servo360_setTransferFunction(12, S360_SETTING_VB_CW, -133 );
+
+  servo360_setTransferFunction(13, S360_SETTING_VM_CCW, 204 );
+  servo360_setTransferFunction(13, S360_SETTING_VB_CCW, 253);
+
+  servo360_setTransferFunction(13, S360_SETTING_VM_CW, 215);
+  servo360_setTransferFunction(13, S360_SETTING_VB_CW, -146);
+
+
+  drive_goto(192, 192);
+  pause(1000);
+  drive_goto(-28, 28);
+  pause(1000);
+  drive_goto(28 * 2, -28 * 2);
+  pause(1000);
+  drive_goto(-28, 28);
+  pause(1000);
+  drive_goto(-192, -192);
+  pause(1000);
+
+  drive_goto(128, 192);
+  pause(1000);
+  drive_goto(-128, -192);
+  pause(1000);
+  drive_goto(192, 128);
+  pause(1000);
+  drive_goto(-192, -128);
+  pause(1000);
+
+  servo360_monitorEnd();
+}

360 Dev/ActivityBot360/ActivityBot360 Modified/drive_goto variations (6).side

@@ -0,0 +1,9 @@
+drive_goto variations (6).c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

360 Dev/ActivityBot360/ActivityBot360 Modified/drive_goto variations (7).c

@@ -0,0 +1,80 @@
+/* 
+  drive_goto variations.c
+
+  This code demonstrates the problem in ActivityBots with servos that both have 
+  the similar zero speed deadband offsets near the allowable limits. Example 
+  instead of 1480 to 1520, both servos hare 1490 to 1530 us zero speed deadbands.
+
+  The monitor (with SimpleIDE Terminal) functions have no effect unless you build 
+  the libservo360 project with this un-commented:
+
+    #define _servo360_monitor_
+
+  For best results, use the Parallax WX ESP8266 WiFi Module - DIP for programming
+  and terminal display.  
+  https://www.parallax.com/product/32420d
+
+  Make sure to re-comment it when done because it takes a signfiicant program memory.
+  
+*/
+
+#include "simpletools.h"
+#include "abdrive360.h"
+
+int main()                    
+{
+  drive_speed(0, 0);
+  pause(1000);
+  servo360_monitorRun();
+  pause(1000);
+
+  /*
+  servo360_setTransferFunction(12, S360_SETTING_VM_CCW, 202);
+  servo360_setTransferFunction(12, S360_SETTING_VB_CCW, 280);
+  
+  servo360_setTransferFunction(12, S360_SETTING_VM_CW, 215);
+  servo360_setTransferFunction(12, S360_SETTING_VB_CW, -126 );
+
+  servo360_setTransferFunction(13, S360_SETTING_VM_CCW, 204 );
+  servo360_setTransferFunction(13, S360_SETTING_VB_CCW, 273);
+
+  servo360_setTransferFunction(13, S360_SETTING_VM_CW, 214);
+  servo360_setTransferFunction(13, S360_SETTING_VB_CW, -146);
+  */
+
+  /*
+  servo360_setTransferFunction(12, S360_SETTING_VM_CCW, 204);
+  servo360_setTransferFunction(12, S360_SETTING_VB_CCW, 273);
+  
+  servo360_setTransferFunction(12, S360_SETTING_VM_CW, 215);
+  servo360_setTransferFunction(12, S360_SETTING_VB_CW, -133 );
+
+  servo360_setTransferFunction(13, S360_SETTING_VM_CCW, 204 );
+  servo360_setTransferFunction(13, S360_SETTING_VB_CCW, 253);
+
+  servo360_setTransferFunction(13, S360_SETTING_VM_CW, 215);
+  servo360_setTransferFunction(13, S360_SETTING_VB_CW, -146);
+  */
+
+  drive_goto(192, 192);
+  pause(1000);
+  drive_goto(-28, 28);
+  pause(1000);
+  drive_goto(28 * 2, -28 * 2);
+  pause(1000);
+  drive_goto(-28, 28);
+  pause(1000);
+  drive_goto(-192, -192);
+  pause(1000);
+
+  drive_goto(128, 192);
+  pause(1000);
+  drive_goto(-128, -192);
+  pause(1000);
+  drive_goto(192, 128);
+  pause(1000);
+  drive_goto(-192, -128);
+  pause(1000);
+
+  servo360_monitorEnd();
+}

360 Dev/ActivityBot360/ActivityBot360 Modified/drive_goto variations (7).side

@@ -0,0 +1,9 @@
+drive_goto variations (7).c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD