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16  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: January 26, 2013, 03:05:10 am
Ha Ha, she's one hot bot.

I thought I'd post my first project.  
I don't have much to offer the forum yet, but maybe someone can benefit from this.
I built this robot out of roof flashing, designed to stay on top of fine loose sand,  spike-paddles were cut into each wheel and a 'ski' was on a pivot in the rear
I wish I had a pic of it finished

here's the code I used with it:
  ~this has nothing to do with my hexapod idea
Code:
/* 10-5-10
  Pete Dokter
  SparkFun Electronics
 
This is an example sketch for Arduino that shows very basically how to control an Ardumoto
 motor driver shield with a 5V Arduino controller board.

~~~ The variable values in this code have changed significantly from the (above) author's draft,
    I also incorporated bumper sensors (whiskers) with iterations and fixed the northward navigation
   */
#include <Wire.h>  
#include <LSM303.h>  //compass/accelerometer
LSM303 compass;

int pwm_a = 3;   //PWM control for motor outputs 1 and 2 is pin 3
int pwm_b = 11;  //                               outputs 3 and 4 is pin 11
int dir_a = 12;  //direction control for motor outputs 1 and 2 is pin 12
int dir_b = 13;  //                                      outputs 3 and 4 is pin 13

const int bumperPinR = 2;   //bumper pins
const int bumperPinL = 4;  

int bumperStateR = 0;      //variable for reading the bumper status
int bumperStateL = 0;    

int IRsensorPin = A0;     //input pin for IR sensor
int IRsensorValue = 0;    //variable to store value of IR sensor
 
int LEDPin = 13;          //On when backing up

void setup()
{
   Serial.begin(9600);
  pinMode(pwm_a, OUTPUT);   //Set control pins to be outputs (motors)
  pinMode(pwm_b, OUTPUT);
  pinMode(dir_a, OUTPUT);
  pinMode(dir_b, OUTPUT);

  //initialize bumper and IR pins
  pinMode(bumperPinR, INPUT);
  pinMode(bumperPinL, INPUT);
  pinMode(IRsensorPin, INPUT);

  pinMode(LEDPin, OUTPUT);

  digitalWrite(dir_a, LOW);    //Set motor direction, 1 low, 2 high
  digitalWrite(dir_b, LOW);    //Set motor direction, 3 high, 4 low
  analogWrite(pwm_a, 255);     //set both motors to 100% duty cycle
  analogWrite(pwm_b, 255);

  Wire.begin();            
  compass.init();
  compass.enableDefault();
  //Use Calibrate example program for compass values
             //(environment specific ~magnetics differ from place to place, recalibrate)  
     //M min X: -405 Y: -108 Z: -9 M max X: -382 Y: -86 Z:8
                   //values are copied from serial monitor, pause calibration to copy  
   compass.m_min.x = -405;
   compass.m_min.y = -108;
   compass.m_min.z = -9;
   compass.m_max.x = -382;
   compass.m_max.y = -86;
   compass.m_max.z = +8;
}
void loop()
{
    digitalWrite(LEDPin, LOW);
  digitalWrite(dir_a, LOW);   //motor direction, 1 low, 2 high (forward)
  digitalWrite(dir_b, LOW);   //                      3 high, 4 low

  analogWrite(pwm_a, 200);    //motors run at 80% duty cycle (slower)
  analogWrite(pwm_b, 200);
    
 compass.read();
 int heading = compass.heading((LSM303::vector) {1,0,0} );   //1,0,0 aligns North
    Serial.println("");
    Serial.print("Compass: ");
    Serial.print(heading);
    Serial.print("\t");

 //IR reading
  IRsensorValue = analogRead(IRsensorPin);    
    Serial.print("IR Reading: ");
    Serial.print(IRsensorValue);
    Serial.print("\t");
 
 //read state of bumper value
  bumperStateR = digitalRead(bumperPinR);
  bumperStateL = digitalRead(bumperPinL);

 //Check IR Sensor
   if(IRsensorValue > 455)
    {
        Serial.println("");
        Serial.println("IR rev ");
  //reverse
     digitalWrite(dir_a, HIGH);  //motor direction, 1 low, 2 high
     digitalWrite(dir_b, HIGH);  //                     3 high, 4 low

     analogWrite(pwm_a, 225);    //motors run slower than 100% duty cycle =(255)
     analogWrite(pwm_b, 225);
      delay(450);

  //turn right
     digitalWrite(dir_a, HIGH);  //motor direction, 1 low, 2 high
     digitalWrite(dir_b, HIGH);  //                      3 high, 4 low

     analogWrite(pwm_a, 15);     //turns left in reverse
     analogWrite(pwm_b, 245);    //points further right in forward direction
      delay(520);
      
  //forward
     digitalWrite(dir_a, LOW);   //motor dir, 1 low, 2 high
     digitalWrite(dir_b, LOW);   //            3 high, 4 low

     analogWrite(pwm_a, 230);    //motors run at ()% duty cycle
     analogWrite(pwm_b, 230);
      delay(850);
    }
 else
  {  
 //check if bumper triggered
  if (bumperStateR == LOW)
   {    
      //back and turn L    
         Serial.println("");
         Serial.println("bumperR rev ");
   //reverse
     digitalWrite(dir_a, HIGH);  //motor dir, 1 low, 2 high
     digitalWrite(dir_b, HIGH);  //            3 high, 4 low

     analogWrite(pwm_a, 225);    //motors run slower than 100% duty cycle
     analogWrite(pwm_b, 225);
      delay(450);

   //turn left
     digitalWrite(dir_a, HIGH);  //motor dir, 1 low, 2 high
     digitalWrite(dir_b, HIGH);  //             3 high, 4 low

     analogWrite(pwm_a, 15);     //turns left in reverse
     analogWrite(pwm_b, 245);    //points further right in forward direction)
      delay(525);
      
   //forward
     digitalWrite(dir_a, LOW);   // 1 low, 2 high
     digitalWrite(dir_b, LOW);   // 3 high, 4 low

     analogWrite(pwm_a, 230);    //motors run at ()% duty cycle
     analogWrite(pwm_b, 230);
      delay(880);
    }
  if (bumperStateL == LOW)
   {    
      //back and turn R    
         Serial.println("");
         Serial.println("bumper L rev ");
   //reverse
     digitalWrite(dir_a, HIGH);   //1 low, 2 high
     digitalWrite(dir_b, HIGH);   //3 high, 4 low

     analogWrite(pwm_a, 225);     //motors slower than 100% duty cycle
     analogWrite(pwm_b, 225);
      delay(450);

   //turn right
     digitalWrite(dir_a, HIGH);   //1 low, 2 high
     digitalWrite(dir_b, HIGH);   //3 high, 4 low

     analogWrite(pwm_a, 245);     //turns left in reverse
     analogWrite(pwm_b, 15);      //points further right in forward direction)
      delay(525);
      
   //forward
     digitalWrite(dir_a, LOW);    //1 low, 2 high
     digitalWrite(dir_b, LOW);    //3 high, 4 low

     analogWrite(pwm_a, 230);     //motors at ()% duty cycle
     analogWrite(pwm_b, 230);
      delay(880);
    }  
 //break out of iteration, start navigation
   else
    {
     if(heading < 255)     // (270) = north
      {
       //turn left
         Serial.print("left");
       digitalWrite(dir_a, LOW);   //1 low, 2 high
       digitalWrite(dir_b, LOW);   //3 high, 4 low

       analogWrite(pwm_a, 135);    //motor A (left) slower, B (right) faster
       analogWrite(pwm_b, 225);
        delay(40);
      }

     if(heading > 285)
      {
       //turn right
         Serial.print("right");
       digitalWrite(dir_a, LOW);   //1 l, 2 h
       digitalWrite(dir_b, LOW);   //3 h, 4 l

       analogWrite(pwm_a, 225);    //motor A faster, B slower
       analogWrite(pwm_b, 135);
        delay(40);
      }
    }
  }  
}


  How do I attach a normal size photo?
17  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: January 25, 2013, 10:51:31 pm
AWOL:
I have probably made 100's of changes to the code in #27 by now, except none of them have have brought me any closer to my goal.  Each change has had either no effect, produces undesirable effects, nullifies the code altogether, or doesn't compile.  
I believe each half of the code (PROGMEM with table to Serial buffer) and (Serial.read to index. to .write) are doing things I want to see happen, I just can't seem to integrate them to work together.  Nothing I have done has furthered what is already there.
So, effectively, the code remains unchanged.
  
zoomkat:
I understand that it does one thing at a time and gives the impression of simultaneity, the code you presented to me (2nd half of the code in #27) definitely produces this effect.  I'm still trying to figure out what function/s will replace manually inputting parameters to serial.  

The "it" certainly results from my surplus of ignorance but I'm not sitting idle waiting for someone to bestow their esoteric knowledge unto me, although it would be sweet to be blessed with such an occurrence, not unlike you supplying much the code I'm working with now.  I'm doing my due diligence and have gone through the entire reference especially focused on 'string theory', investigated many of the links provided and their links also, as well as other forums and books.  I'm learning as much as I can as quickly as I can - I may have totally overlooked the exact solution because I didn't know what I was looking at, I don't know.
I'm not going to give up on the issue, I want to understand how it is done, but I'm reaching a threshold of having to re-prioritize in order to meet the deadline for the robotics challenge.  I've figured out a way for a hexapod to use 2 servos to do the work of the 12 originally planned and as long as I am able to get the parts printed it shouldn't be too difficult to make happen.  I won't need to have the servos operate simultaneously.  

I will continue to work on this simultaneous servo problem in my spare time.  In the meantime I built a different style of 'walking' robot prototype using 2 servos out of battery compartments and paperclips.  I've got a couple of other projects that I want to finish/get started after the challenge.  I'll go nuts if I only focus on this problem.

[img][img]
18  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: January 25, 2013, 05:54:12 am
PaulS:

So are your comments serious?
                                       ...joking?
                                 or seriously joking?

the code I've been working on is on post #27
       are you saying you aren't going to post yours?

Well, if you look at post #27, you can see it too
if you were to run it, you can certainly see what it do
Unfixed. And so.

the subject is apparently in the form of a question as the title of the thread (see title)
      any more explanation of my problem would be ad nauseam

If you have any info that could possibly help me solve it, I'd love to know about it. 
19  Topics / Robotics / Re: Controlling 30 servos.. on: January 11, 2013, 11:52:41 am
I know this is an old post but, just in case dbiltcliffe observes this reply, I must ask:

 Would you post the rest of the code your sample came from?  I would love to see it. 

Thanx
20  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: January 11, 2013, 11:40:45 am
zoomkat:

Yes, I have been trying to find as much info on it as possible.  I think I'm heading in the right direction and what I now understand or at least think I understand is that there is a conversion problem.  It is between the 'serial buffer' and the 'readString' variable which is then indexed to 'n' in 'servo.write()'.  Maybe, if possible, I should not do a conversion and try to work with only the buffer up to '.indexOf()'.  I'm still looking for applicable information on this subject. 
21  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: January 03, 2013, 01:28:10 am
AWOL:  The use of double quotes for defining the strings was definitely part of, if not the entire, problem.

RESULTS:   The code below prints the defined strings {","}; line by line in sequence to the serial monitor and timed according to the delay.  This is only partially what I wanted because Serial.read either is not reading them as they are being printed or they are not being converted to integers and/or not being written to the servos.  The 'Serial.read/write' section [from zoomkat] of the loop (everything at the bottom after 'if(Serial.available())' ) works fine on its own with manual input into the serial monitor but apparently doesn't do anything in combination with the PROGMEM section/s.  I'm not sure what needs to happen now for the strings to get written to the servos, I don't know what the disconnect is.  It may only be one or two lines away from working, or may need an entirely new approach.   smiley-neutral
I did rearrange a few things several times, notably: PROGMEM, so I'll try repositioning a few things, before continuing to research.

Code:
/*
'zoomkat 11-22-12 simple delimited ',' string parse' is combined with 'PROGMEM string demo'
inside of a while loop that gets started with a bumper sensor used as a manual switch.
Intended to control one leg prototyped for a hexapod ~will be further expanded as the bugs
get worked out...

 zoomkat 11-22-12 simple delimited ',' string parse
         from serial port input (via serial monitor)
         and print result out serial port
         multi servos added
        
 PROGMEM string demo
        -How to store a table of strings in program memory (flash), and retrieve them.
           Information summarized from:
        http://www.nongnu.org/avr-libc/user-manual/pgmspace.html
               -Here is a good template to follow for setting up a
                table (array) of strings in program memory.               */

#include <avr/pgmspace.h>
PROGMEM prog_char string_0[] = {"60a, 90b"};   //positions leg at ready (may have no use)
PROGMEM prog_char string_1[] = {"25a, 170b"};  //gait for one leg (2 motors(a,b))
PROGMEM prog_char string_2[] = {"160a"};       //
PROGMEM prog_char string_3[] = {"5b"};         //
PROGMEM prog_char string_4[] = {"25a"};        //

  // Then set up a table to refer to strings.
PROGMEM const char *string_table[] =   //change "string_table" name to suit
{  
  string_0,
  string_1,
  string_2,
  string_3,
  string_4,
};
char buffer[4];  //needs to be large enough for the largest string it must hold
                      //may eventually hold up to 30 indexed variables for all servo/sensor functions  
String readString;

#include <Servo.h>
 Servo myservoa, myservob;   //create servo object to control a servo

#include <Wire.h>
 const int bumperPinR = 2;    // the number of the bumper (whisker) pin
  int bumperStateR = 0;       // variable for reading the bumper status

void setup()
{
  Serial.begin(9600);

  //myservoa.writeMicroseconds(1500);   //set initial servo position if desired?
  //myservob.writeMicroseconds(1500);   //
 myservob.attach(8);     //the pin for the servob control
 myservoa.attach(9);     //
  //Serial.println("");     //keep track of what is loaded

 pinMode(bumperPinR, INPUT);     //sets the bumper pins as an inputs

 Wire.begin();      //initializes/activates voltage sensing for bumperpins?  
}
void loop()
{
  bumperStateR = digitalRead(bumperPinR);    //read state of bumper sensors
 
 while (bumperStateR == LOW)      //begin a loop(one leg walking) with bumper sensor
 {
   for (int i = 1; i < 4; i++)    //prints successive strings in table?
   {
         //'strcpy_P' copies strings from program memory to buffer,
         //necessary casts and dereferencing required to gather data from table.
     strcpy_P(buffer, (char*) pgm_read_word(&(string_table[i])));
     Serial.println(buffer);                                          
     //delay(500);                 //delay will certainly need adjustment    

 //everything beyond this point does not seem to correlate with that above, although
 //it does control the servos when values are manually entered into the serial monitor
    if (Serial.available())  
    {
      char c = Serial.read();   //gets one byte from serial buffer
      if (c == ',')              //where/what is 'char c'??  
      {
        if (readString.length() >1)   //greater than 1 char??
        {
          Serial.println(readString);  //prints string to serial port out
          int n = readString.toInt();   //convert readString into a number
             // auto select appropriate value ~my servos use 0-180, so 181 should work
          if(n >= 500)                  //don't know if I'm interpreting this correctly
          {
            Serial.print("writing Microseconds: ");       //header for input 'n >= 500' in monitor
            Serial.println(n);
            if(readString.indexOf('a') >0) myservoa.writeMicroseconds(n);
            if(readString.indexOf('b') >0) myservob.writeMicroseconds(n);
          }
          else
          {  
            Serial.print("writing Angle: ");                 //header for input 'n < 500'
            Serial.println(n);
            if(readString.indexOf('a') >0) myservoa.write(n);
            if(readString.indexOf('b') >0) myservob.write(n);
          }
          readString="";    //clears variable for new input
        }
      }  
      else
      {    
        readString += c;    //makes the string readString
      }
     }
   }
 }
}
********************************************************************************
 1/5/13
                                                       I need help!
      Here's what I'm trying to do:
1) Store strings to PROGMEM
2) Retrieve strings from PROGMEM using Serial()
3) Write strings to multiple servos in sequence/s
      Purpose:
Mainly to have simultaneous operation of multiple servos and sensors, the other would be to conserve memory for functions.
   
  The 'disjunction' appears to be between 'strcpy_P' and 'if (Serial.available())'.
  I've made too many changes, additions, omissions to the code to remember everything I've tried.  I  can't really go much further with my project without solving this problem.

                              Any suggestions or additional info will be greatly appreciated!
22  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: January 02, 2013, 03:55:47 pm
Sweet, I'll try that.  I thought that might possibly be part of the problem ~hopefully it's the whole problem. 
It will probably be several hours before I can get back online with results.
Thanx
23  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: January 02, 2013, 03:23:21 pm
Maybe I'm not using the word 'routine' correctly, but the code I'm referring to is in reply #19 (above).  I refined and replaced what I had first posted there but the new code gives me the wrong results.  There are a few comments in the code and in subsequent posts.
24  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: January 02, 2013, 02:36:36 pm
I need help
                setting up strings in PROGMEM as 'int' or 'unsigned int' instead of 'char' datatypes.  I think the routine is really close to doing what I want except it prints alphabet characters only instead of the indexed numbers I have defined in the first few lines of code (refer to my last couple of posts and the code above)

Any suggestions or info about this would be greatly appreciated.  Thanx
25  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: December 31, 2012, 03:30:32 am
AWOL:

No, I didn't try to compile it, I just threw it together after some research and wanted to see what initial responses it would conjure.

I just replaced/modified it (above) with a version that survived the compiler but hasn't yet been tested.  I'm gonna do that now and see what happens.


HMMM....  I'm having 'com port' problems again, not sure what's happening with my ports, so the code (above) remains untested until I figure this out.


  1-2-13.   Upon testing, alphabet characters printed to the serial monitor instead of the indexed number values.  I changed datatypes to 'unsigned int' and 'uint16_t', used '#define' for the first line, and tried quite a few combinations of changes with no results.  There must be more to it than simply changing  datatypes, I don't know.   I could use some help with it if anyone has any ideas.
26  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: December 30, 2012, 06:10:06 am
I just started working on this and have a 'ways to go'  ~gotta sleep at some point, though.  I've decided to drop the idea of a smooth gait until more important things are taken care of first.  I haven't gone all the way through it or compiled it to see where the disjunctions are yet.  For the time being this will only be for one leg with 2 servos,  it will gradually expand from there.  I will edit this post as I work on it and ask for advice accordingly - unless anyone is able to see any obvious, needed restructuring.

Code:
/*
'zoomkat 11-22-12 simple delimited ',' string parse' is combined with 'PROGMEM string demo'
inside of a while loop that gets started with a bumper sensor used as a manual switch.
Moves one leg prototyped for a hexapod ~to be further expanded...
                              ********************************
         *Testing this gave me alphabet characters in the serial monitor instead
          of the indexed numbers I defined (degree values for servos), this tells me
          I must be close.  A simple change of datatypes only gives disassembler messages
          I don't understand(strcpy_P). Some help with this would be great.*  
                              ********************************
 zoomkat 11-22-12 simple delimited ',' string parse
         from serial port input (via serial monitor)
         and print result out serial port
         multi servos added
        
 PROGMEM string demo
        -How to store a table of strings in program memory (flash), and retrieve them.
           Information summarized from:
        http://www.nongnu.org/avr-libc/user-manual/pgmspace.html
               -Here is a good template to follow for setting up a
                table (array) of strings in program memory.
        -Setting up the strings is a two-step process.               */

  //define strings
#include <avr/pgmspace.h>
prog_char string_0[] PROGMEM = {'60a, 90b'};   //positions leg at ready(may have no use)
prog_char string_1[] PROGMEM = {'25a, 170b'};  //gait for one leg (2 motors(a,b))
prog_char string_2[] PROGMEM = {'160a'};       //
prog_char string_3[] PROGMEM = {'5b'};         //
prog_char string_4[] PROGMEM = {'25a'};        //
//prog_uint16_t string_5[] PROGMEM = ;
//prog_uint16_t string_6[] PROGMEM = ;
//prog_uint16_t string_7[] PROGMEM = ;
//prog_uint16_t string_8[] PROGMEM = ;
//prog_uint16_t string_9[] PROGMEM = ;

  // Then set up a table to refer to strings.
PROGMEM const char *string_table[] =  //change "string_table" name to suit
{  
  string_0,
  string_1,
  string_2,
  string_3,
  string_4,
//  string_5
//  string_6,
//  string_7,
//  string_8,
//  string_9,
};
char buffer[32];  //needs to be large enough for the largest string it must hold
                  //may eventually hold up to 240 characters for all servos  
String readString;
//int string[] = {1,2,3,4,5,6,7,8,9};

#include <Servo.h>
 Servo myservoa, myservob;  // create servo object to control a servo

#include <Wire.h>
 const int bumperPinR = 2;   // the number of the bumper pin
 const int bumperPinL = 4;   //
  int bumperStateR = 0;      // variable for reading the bumper status
  int bumperStateL = 0;      //

void setup()
{
  Serial.begin(9600);
          //wrong idea but want to save the values temporarily  
 //String('60a, 90b');  //positions leg at ready(may have no use)
 //String('25a, 170b');  //gait for one leg (2 motors(a,b))
 //String('160a');       //
 //String('5b');         //
 //String('25a');        //
 //String('125a, 140b');  //smoothed motion not in use
 //String('80a, 150b');   //
 //String('45a, 160b');   //
 //String('30a, 170b');   //

  //myservoa.writeMicroseconds(1500);   //set initial servo position if desired?
  //myservob.writeMicroseconds(1500);   //
 myservob.attach(8);   //the pin for the servob control
 myservoa.attach(9);   //
  //Serial.println("");  //keep track of what is loaded

 pinMode(bumperPinR, INPUT);  //sets the bumper pins as an inputs
 pinMode(bumperPinL, INPUT);  //

 Wire.begin();      //initializes/activates voltage sensing for bumperpins?  
}

void loop()
{
  bumperStateR = digitalRead(bumperPinR);   //read state of bumper sensors
  //bumperStateL = digitalRead(bumperPinL);   //
 
 while (bumperStateR == LOW)      //begin a loop(one leg walking) with bumper sensor
 {
   for (unsigned int i = 1; i < 8; i++)   //prints successive strings in table?
   {                                                    //'strcpy_P' copies strings from program memory to buffer,
     strcpy_P(buffer, (PGM_P)pgm_read_word(&(string_table[i]))); //necessary casts and dereferencing
     Serial.println(buffer);                                           //required to gather data from table above.
     delay(500);                  //~line:'strcpy_P' seems to be the problem...~        
   }
   if (Serial.available())  
   {
     char c = Serial.read();  //gets one byte from serial buffer
     if (c == ',')            //where/what is 'char c'?  
     {
       if (readString.length() >1)  //greater than 1 char?
       {
         Serial.println(readString);  //prints string to serial port out

         int n = readString.toInt();  //convert readString into a number

          // auto select appropriate value, my servos use 0-180 so 181 should work
         if(n >= 500)
         {
           Serial.print("writing Microseconds: ");
           Serial.println(n);
           if(readString.indexOf('a') >0) myservoa.writeMicroseconds(n);
           if(readString.indexOf('b') >0) myservob.writeMicroseconds(n);
         }
         else
         {  
           Serial.print("writing Angle: ");
           Serial.println(n);
           if(readString.indexOf('a') >0) myservoa.write(n);
           if(readString.indexOf('b') >0) myservob.write(n);
         }
         readString="";  //clears variable for new input
       }
     }  
     else
     {    
       readString += c;  //makes the string readString
     }
   }
 }
}


27  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: December 29, 2012, 04:39:23 am
Cool, it works.  this is a whole new level of programming for me, it's hard to describe how I feel about it.   I had some problems with my com ports that I don't understand, I've never had a problem with them before but it seems to have sorted itself out. 

So now I need to figure out how to run a few short, looped series of strings (walking patterns for each leg ~they should all be the same, half with an opposite order of operation)  in a function similar to 'Serial.printIn(readString)' that will be stored on the arduino so that the 'string loops' can be incorporated into sensor iterations that will determine travel direction.  I think I have most of my sensor iteration figured out, except for the directional radio signal receiver, but that'll come later.

Thanks for the guidance everyone, I will gladly accept more help with my project.   
28  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: December 28, 2012, 10:51:46 pm
Sweet, I have some movement of the motors although I'm still not clear on how to input the values correctly.
I'll keep experimenting and see what happens.
29  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: December 28, 2012, 04:17:41 pm
zoomkat:

I'm having some trouble understanding what/how I need to input parameter values into the code to produce a desired result.
For the 'expect single strings' example, I assume the lettered values represent microseconds and then degrees per each defined servo.

  Do these get input to 'if (c == ','), or after any of the comparison operators (>,<, etc.), or manually replace 'n' anywhere? and should they look the same, with a value (100a) followed by a letter?   Or, where do motor position parameters get input?
  How many changes of direction will this routine handle as is without repeating any of the 'if' statements?(maybe I shouldn't try to ask this last question yet, until I see a result)

Thank you for posting this example, at least I have a direction to work in.
30  Topics / Robotics / Re: 2 servos (or any functions) operating simultaneously? on: December 28, 2012, 03:56:03 am
Quote
Quote
or is the code doing this on its own as it continually loops?
Sorry, don't understand the question
I'm not sure if I understand it either.

So the integers n are the microsecond values given by the readString.index?

I am working now to adapt this routine to my prototype setup and see if it works.
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