abcalibrate360.h File Reference

This library has a functions you can call to calibrate your ActivityBot 360. Example code that uses this library to calibrate the ActivityBot is here:

http://learn.parallax.com/activitybot

Calibration instructions that accompany the example code are included in the tutorial. More...

#include "simpletools.h"
#include "servo360.h"
#include "abdrive360.h"

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Go to the source code of this file.

Macros
#define	ABD60_PIN_CTRL_L   12
#define	ABD60_PIN_FB_L   14
#define	ABD360_PIN_CTRL_R   13
#define	ABD360_PIN_FB_R   15
#define	_AB360_EE_Start_   63418
	ActivityBot EEPROM calibration data start address.
#define	_AB360_EE_Pins_   12
#define	_AB360_EE_mVccwL_   28
#define	_AB360_EE_bVccwL_   32
#define	_AB360_EE_mVcwL_   36
#define	_AB360_EE_bVcwL_   40
#define	_AB360_EE_mVccwR_   44
#define	_AB360_EE_bVccwR_   48
#define	_AB360_EE_mVcwR_   52
#define	_AB360_EE_bVcwR_   56
#define	_AB360_EE_End_   _AB360_EE_Start_ + 60
	ActivityBot EEPROM calibration data end address.
#define	AB360_ERROR_NONE   0
#define	AB360_ERROR_CABLE_SWAP   -1
#define	AB360_ERROR_NO_ENC_SIG_BOTH   -2
#define	AB360_ERROR_NO_ENC_SIG_LEFT   -3
#define	AB360_ERROR_NO_ENC_SIG_RIGHT   -4
#define	AB360_ERROR_NO_MOTION_LEFT   -5
#define	AB360_ERROR_NO_MOTION_RIGHT   -6
#define	AB360_ERROR_NO_MOTION_BOTH   -7
#define	AB360_ERROR_BATTERIES_TOO_LOW   -8
#define	AB360_ERROR_BATTERIES_TOO_HIGH   -9
#define	AB360_ERROR_XFER_OUT_OF_RANGE   -10
#define	AB360_ERROR_POSSIBLE_AB_NOT_360   -11
#define	AB360_ERROR_CONDITION_UNKNOWN   -12

Functions
void	cal_supply5V (int setting)
void	cal_activityBot (void)
	Run the ActivityBot 360 calibration function. Let it run until the P26 and P27 lights turn off. It'll take about 30 seconds. More...
void	cal_servoPins (int servoPinLeft, int servoPinRight)
	Set the ActivityBot 360's servo pin connections to values other than the default P12 (left servo) and P13 (right servo). This function stores values in EEPROM where the abdrive360 library can access them. So, the abdrive360 library will expect the servos to be connected to the Propeller I/O pins specified by the servoPinLeft and servoPinRight parameters. More...
void	cal_encoderPins (int fbPinLeft, int fbPinRight)
	Set the ActivityBot 360's feedback pin connections to something other than the default P14 (left feedback) and P15 (right feedback). This function stores values in EEPROM where the abdrive360 library can access them. So, the abdrive360 library will expect the feedback pins to be connected to the I/O pins specified by the fbPinLeft and fbPinRight parameters. More...
void	cal_displayData (void)
	Display ActivityBot 360 calibration data in the terminal. This data consists of I/O pin values for the servo's control and feedback I/O pin connections and m and b values for a y = mx + b equation that is used to calculate control pulse widths based on measured calibration data. Details about how y, m, x, and b are calculated appear in the notes at the bottom of the terminal.
void	cal_displayResults (void)
	Indicates whether the last calibration was successful or had errors. Errors can be caused by turning off the ActivityBot 360 before the yellow lights go out, and also by incorrect servo control/feedback pin connections.
void	cal_clear (void)
	Clear calibration settings. After this function is called the abdrive360 library will use standard default settings.
int	cal_getEepromPins (void)

Detailed Description

This library has a functions you can call to calibrate your ActivityBot 360. Example code that uses this library to calibrate the ActivityBot is here:

http://learn.parallax.com/activitybot

Calibration instructions that accompany the example code are included in the tutorial.

Author

Andy Lindsay

Copyright

Copyright (C) Parallax, Inc. 2018. See end of file for terms of use (MIT License).

Core Usage

A call to cal_activityBot launches 1 additional core, and self-terminates the application when done.

EEPROM Usage

Writes to addresses 63418..65470.

Memory Models

Use with CMM.

Version

v0.90

• add cal_servoPins and cal_encoderPins to change from default I/O connections to ActivityBot 360 servos and feedback lines. Values used will persist in EEPROM and be used by the abdrive360 library.

Help Improve this Library

Please submit bug reports, suggestions, and improvements to this code to edito.nosp@m.r@pa.nosp@m.ralla.nosp@m.x.co.nosp@m.m.

Definition in file abcalibrate360.h.

Function Documentation

cal_activityBot()

void cal_activityBot

(

void

)

Run the ActivityBot 360 calibration function. Let it run until the P26 and P27 lights turn off. It'll take about 30 seconds.

Run the ActivityBot 360 calibration function. Let it run until the P26 and P27 lights turn off. It'll take about 30 seconds.

Definition at line 44 of file abcalibrate.c.

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cal_encoderPins()

void cal_encoderPins	(	int	fbPinLeft,
		int	fbPinRight
	)

Set the ActivityBot 360's feedback pin connections to something other than the default P14 (left feedback) and P15 (right feedback). This function stores values in EEPROM where the abdrive360 library can access them. So, the abdrive360 library will expect the feedback pins to be connected to the I/O pins specified by the fbPinLeft and fbPinRight parameters.

Parameters

fbPinLeft	Number of Propeller I/O pin connected to the left encoder.
fbPinRight	Number of Propeller I/O pin connected to the right encoder.

Set the ActivityBot 360's feedback pin connections to something other than the default P14 (left feedback) and P15 (right feedback). This function stores values in EEPROM where the abdrive360 library can access them. So, the abdrive360 library will expect the feedback pins to be connected to the I/O pins specified by the fbPinLeft and fbPinRight parameters.

Parameters

encPinLeft	Number of I/O pin connected to the left encoder.
encPinRight	Number of I/O pin connected to the right encoder.

Definition at line 787 of file abcalibrate.c.

cal_servoPins()

void cal_servoPins	(	int	servoPinLeft,
		int	servoPinRight
	)

Set the ActivityBot 360's servo pin connections to values other than the default P12 (left servo) and P13 (right servo). This function stores values in EEPROM where the abdrive360 library can access them. So, the abdrive360 library will expect the servos to be connected to the Propeller I/O pins specified by the servoPinLeft and servoPinRight parameters.

Parameters

servoPinLeft	Number of I/O pin connected to the left servo.
servoPinRight	Number of I/O pin connected to the right servo.

Set the ActivityBot 360's servo pin connections to values other than the default P12 (left servo) and P13 (right servo). This function stores values in EEPROM where the abdrive360 library can access them. So, the abdrive360 library will expect the servos to be connected to the Propeller I/O pins specified by the servoPinLeft and servoPinRight parameters.

Parameters

servoPinLeft	Number of I/O pin connected to the left servo.
servoPinRight	Number of I/O pin connected to the right servo.

Definition at line 773 of file abcalibrate.c.