'**************************************************************** '* Name : Fa_Hub.BAS * '* Author : Godfried-Willem RAES * '* Notice : Copyleft (c) 2011 Logosoft Public Domain * '* Date : 30-04-2011 * '* Version : 1.3 * '* Notes : Based On Ob-hub code model, V3.1 * '**************************************************************** '15.10.2010: First version by us. ' PIC: 18F2525 On MidiHub board, motor, sensors, lites '18.10.2010: Further coding. ' Analog tilt sensor design with Penny + Giles device. ' For -60 degree to + 60 degree we should read values between 102 and 922 from the ADC ' For -45 degree to + 45 degree we should read values between 205 and 819 from the ADC ' reduced to 7 bits, with 64 as center value we get 25 and 102 as extremes for 45 degrees '23.10.2010: V2.1: much better, but we still oscilate on standstill. ' V2.3: try with varying the PWM frequency in function of traject '24.10.2010: V2.7 with integrator and hardware change: 270nF cap. between mosfets. '25.10.2010: V2.8 using trigonometric functions and taking into account climbing or falling ' movement. Integration left out. Suggestion of Kristof Lauwers... '26.10.2010: Further research and development. Works fine as far as traject is conscerned, but ' we still have overshoot.. V2.9: small slowdown added when approaching soll value. ' V3.1: ' This version works, but we have to control maxspeed with CC23 ' on vertical, without oscillation this value has to be 28 (in midi) ' on forward, it can be set to 56 ' speed of movement depends on this controller. '----------------------------------------------------------- '20.04.2011: Ob code, version 3.1 used as model for the Fa hub board ' pin assignations are a bit different though. Ob must have an earlier board version... ' motor parameters have to be changed. Its a very different mechanism after all. '25.04.2011: First tests on the actual robot. ' Lite0 has a strange behaviour. '26.04.2011: Start works on the motor coding. ' CC21 sets the minimum speed for the motor ' CC22 sets the soll-position (destination) ' CC23 sets the maximum speed for the motor '30.04.2011: odd bug: on startup, some lights are flashing... ' Implemented: Timer3 as clock source for periodic sensor sampling at 64S/s ' Now version 1.3 ' seems working, bit eye light 4 (right eye) no longer functioning... ' we maybe have to clear bit 5 in SSPCON1 ' no, we did bend a PIC pin... '01.05.2011: Version 1.4: with sampling in the low priority interrupt. '18.05.2011: The lights do not always flash in a periodic way. There are standstills for some reason.... '21.05.2011: minimal integration added in low interupt on ADC. Motor movement code changed, leaving out ' angle calculations. Now version 1.5 '22.05.2011: testing. IRQ code changed to account for full timer period mistakes every so often. ' irregularities do remain... '23.05.2011: Version 1.6: Cnt.word0 clear in the IRQ : this is a substantial improvement. ' However, small short glitches still seem to occur. ' IRQ handler include file renamed to Fa_Hub_Irq ' Motor coding refined. Now using 8-bit resolutions. ' periodic timers seem to work to perfection now. Include "18F2525.inc" 'version for the fa board. (40MHz) 'Include "18F2520.inc" 'also possible. (40MHz) 'Include "18F25K20.inc" 'for test & debug on an Amicus board. (64MHz) ' Mapping defines for midi-events on pin outputs and inputs: ' lights: $define Yellow0 PORTC.5 ' X11-2 $define Yellow1 PORTC.4 ' X11-3 $define Red0 PORTB.0 ' X12-2 $define Red1 PORTB.1 ' X12-3 $define Blue0 PORTC.3 ' X15-2 eye right $define Blue1 PORTC.0 ' X15-3 eye left $define BlueLed PORTA.3 'position reached indicator. $define GreenLed PORTA.4 'for code monitoring and debug - movement to the left (backwards) $define YellowLed PORTA.5 'for code monitoring and debug - movement to the right (forwards) $define Sensor PORTA.0 'input port - Penny& Giles tilt sensor 'red LED for debug: $define Debug_Led PORTB.5 ' for testing - red led - watchdog ' configure the input and output pins: Clear SSPCON1.5 'RC3 must be available for I/O TRISA = %01000111 'bits set to 0 are output, 1 = input TRISB = %11100000 TRISC = %11000000 'RC1 en RC2 zijn pwm outputs and must be set to output 'RC6 en RC7 zijn USART I/O and must be set to input 'constant definitions: 'initialisations for the midi input parser: Symbol Midichannel = 15 ' Fa_Channel Symbol NoteOff_Status = 128 + Midichannel ' 2 bytes follow Symbol NoteOn_Status = 144 + Midichannel Symbol Keypres_Status = 160 + Midichannel ' 2 bytes follow Symbol Control_Status = 176 + Midichannel Symbol ProgChange_Status = 192 + Midichannel ' 1 byte message Symbol Aftertouch_Status = 208 + Midichannel ' 1 byte follows Symbol Pitchbend_Status = 224 + Midichannel ' lsb msb follow 'application specific constants Symbol NrTasks = 6 ' maximum 16 'Symbol PWMFreq2 = PWMminF * 2 ' PWMminF is processor dependent. 'Symbol PWMFreq3 = PWMminF * 3 ' declared in the processor include 'Symbol PWMFreq4 = PWMminF * 4 Symbol MinPos = 72 ' 1.96V op sensor, waarde 401 in 10bits resolutie, = ca 10 degrees backwards ' 401 - 256 = 145 in 9-bit resolutie window ' 72 in 8-bit resolutie (36 in 7-bit) Symbol MaxPos = 168 ' 2.89V op sensor, waarde 592 in 10 bits resolutie, = 10 degrees frontal ' 592 - 256 = 336 in 9-bit resolutie window ' 168 in 8-bit resulutie (84 in 7-bits) Symbol EqPos = 103 ' equilibrium position, slightly reclined. 2.25V op sensor ' 10-bit reading as 461 ' 461 - 256 = 205 in 9-bit resolutie window ' 103 in 8-bit resolutie, 7-bit = 52 ' value checked empirically. Symbol MaxTraj = MaxPos - MinPos ' = 96 Symbol VoorMaxTraj = MaxPos - EqPos ' = 65 Symbol AchterMaxTraj = EqPos - MinPos ' = 31 ' Setup the USART Declare Hserial_Baud = 31250 ' Set baud rate for the USART to MIDI specs. Declare Hserial_TXSTA = 0x24 ' instead of the normal 0x20 - ?? 0x24 'Declare All_Digital = True ' not the case here!!! ' Declare Hserial_Clear = On ' should clear on errors. Bytes get lost of course... This must be 31250 for MIDI ' Create variables Dim Cnt As Dword System Dim CntHw As Cnt.Word1 'used in the timer0 interrupt, to create a 32 bit timer Dim CntLw As TMR0L.Word 'this is the trick to read both TMR0L and TMR0H 'it makes Cntlw the low word of cnt 'We still have to copy the contents of Lw to Cnt Dim Tim3 As TMR3L.Word ' 16 bit counter for sampler ' Dim Sr as TMR0L.7 '512 S/s ' As TMR0H.1 would be 128 S/s ' As TMR0H.2 would be 64 S/s ' As TMR0H.3 would be 32 S/s ' As TMR0H.4 would be 16 S/s Dim Bytein As Byte System ' midi byte read from buffer Dim StBit As Bytein.7 ' highest bit of ByteIn Dim i As Byte System ' general purpose counter ' midi variables Dim statusbyte As Byte System Dim noteUit As Byte System ' note off + release value Dim release As Byte System Dim noteAan As Byte System ' note on + release value Dim velo As Byte System Dim notePres As Byte System ' note pressure + pressure value Dim pres As Byte System Dim Ctrl As Byte System ' continuous controller + value Dim value As Byte System Dim prog As Byte System ' program change + program-byte Dim aft As Byte System ' channel aftertouch Dim pblsb As Byte System ' pitch bend lsb Dim pbmsb As Byte System ' pitch bend msb Dim veltim As Dword System ' 32 bit velo Dim newtim As Dword System Dim VelFlags As Word System ' bits 0 - 15 used as flags for active timers Dim VelFlags0 As VelFlags.Byte0 ' alias for bits 0-7 Dim VelFlags1 As VelFlags.Byte1 ' bits 8-15 - not used in this code. Dim CC21 As Byte System ' motor minimum speed pwm - midi value Dim CC22 As Byte System ' motor soll-position - midi value Dim CC23 As Byte System ' motor maximum speed pwm - midi value Dim CC66 As Byte System ' global on/off switch Dim PowerOn As CC66.0 Dim st As Byte System Dim b1 As Byte System Dim b2 As Byte System Dim Lites As Byte System ' bits used as flags ' Dim SensorMin As Word System ' Dim SensorMax As Word System Dim SensorVal As Word System ' holds the 10bit value read from ADC0 ' in fact 8 bit could also do the job here. Dim Newval As Word System ' used for integration in the low IRQ Dim TmpVal As Word System Dim nowval As Byte System ' 8 bit and shifted value of above. Dim oldval As Byte System Dim Sollpos As Byte System ' 8 bit = CC22 * 2 Dim tBit As Byte System ' for sampling rate bit Dim MinSpeed As Byte System ' 8 bit minimum pwm value for the motor to rotate Dim MaxSpeed As Byte System ' 8 bit maximum pwm value for the motor Dim Traj As Word System Dim Speed As Word System ' Dim angle As Word System ' Dim Iangle As Byte System ' in integer radians. '----------------------------------------------------------------------------------------- ' Load the USART Interrupt handler And buffer read subroutines into memory Include "ADC.inc" ' Load the ADC macros into the program Include "Fa_Hub_Irq.inc" ' our own version for UART And Timer0/3 Interrupt 'Include "Timers.inc" ' required for velo support with timed pulses and periods. 'Include "DwordArrays.inc" ' support for dword arrays. 'framework for a multitasker: Dim Task_rsi[NrTasks] As Word 'task reschedule interval (period), if 0 the task is not active 'max. value limited to 65535. For longer periods, it will have to 'become dword!!! Dim Velmsb[NrTasks] As Word 'the application for velo-timers, is in fact just a one-shot task Dim VelLsb[NrTasks] As Word 'DeclareDwordArray(TimeVals , NrTasks) 'alternative using the macro's. [not yet used] ' assigning values syntax: DwordArray Timvals,[i], value ' reading values syntax: value = DwordArray TimVals,[i] 'make sure we initialize those pins on start up: 'fault?: there should be no executable statements outside the main program. Low Yellow0 'midi note 0 Low Yellow1 Low Red0 Low Red1 Low Blue0 'midi note 4 Low Blue1 'midi note 5 Low Debug_Led HPWM 2, 255, PWMminF 'motor direction - RC1 PWM uses timer2 HPWM 1, 255, PWMminF 'motor speed off - inverted pwm - connected to RC2 Low GreenLED Low YellowLed Low BlueLED Clear CC66 CC22 = 64 'thus on cold boot, the bassoon will go to vertical position Sollpos = 128 'CC22 * 2 CC21 = 10 MinSpeed = 20 'cc21 * 2 CC23 = 88 MaxSpeed = MinSpeed + CC23 + MaxTraj 'cc23 = 7bits ' maxtraj = 96 '----------------------------------------------------------------------------------------- ' Main program starts here MAIN: High Debug_Led DelayMS 50 ' wait for stability Low Debug_Led Clear VelFlags0 Clear Lites Init_Usart_Interrupt ' Initiate the USART serial buffer interrupt ' this procedure is in the include file Clear_Serial_Buffer ' Clear the serial buffer and reset its pointers ' in the include as well ' Configure Timer0 for: ' Clear TMR0L and TMR0H registers ' Interrupt on Timer0 overflow ' 16-bit operation ' Internal clock source 40MHz ' 1:256 Prescaler : thus 40MHz / 256 = 156.250kHz ' Opentimer0 (Timer_INT_On & T0_16BIT & T0_SOURCE_INT & T0_PS_1_256) in macro file. Clear T1CON Clear IntConBits_T0IF ' clear interrupt flag Set INTCONBITS_T0IE ' enable interrupt on overflow T0CON = %10000111 ' bit 7 = enable/disable ' bit 6 = 1=8 bot, 0=16 bit ' bit 5 = 1 pin input, 0= Internal Clk0 ' bit 4 = HL or LH transition when bit5 =1 ' bit 3 = 1= bypass prescaler, 0= input from prescaler ' bit 2-0 = prescaler select: 111= 1:256 ' Setup the High priorities for the interrupts ' Open the ADC: ' Fosc/32 ' Right justified for 10-bit operation ' Tad value of 0 ' Vref+ at Vcc : Vref- at Gnd ' Make AN0 an analogue input ' ' OpenADC(ADC_FOSC_32 & ADC_RIGHT_JUST & ADC_0_TAD, ADC_REF_VDD_VSS, ADC_1ANA) ' could be replaced with: ADCON2 = %10000010 ADCON1 = %00001110 ADCON0 = %00000001 SensorVal = ReadADC 0 ' initialize with the value on startup ' open and start timer3 for sampling: Clear T3CON Clear PIR2BITS_TMR3IF ' clear IRQ flag Set PIE2BITS_TMR3IE ' irq on Clear Tim3 ' Clear TMR3L And TMR3H registers Set RCONbits_IPEN ' Enable priority interrupts Clear IPR2bits_TMR3IP ' Set Timer3 as a low priority interrupt source ' we can also set T3Con in one instruction as: T3CON = %10110001 ' oef, now it works... ' bit 7 = 16 bit mode ' bit 6,3 = 0, 0 ' bit 5,4 = 1:8 prescale ' bit 2 = 0 ' bit 1 = 0 Internal clock = Fosc/4 ' bit 0 : 1= enable timer 3, 0= disable ' maximum count = 52.42ms, 1 tick =0.8uS, lowest freq.=19Hz ' start the main program loop: LOOP: ' Create an infinite loop Bytein = HRSIn ' Read data from the serial buffer, with no timeout ' Start the midi parser. Midi_Parse: If Bytein > Control_Status Then ' here higher statusses are not implemented. If Bytein > 253 Then '254 = midiclock, 255= reset 'midiclock can interrupt all other msg's... '255 had to be intercepted since thats what we 'get when no new byte flows in (?) GoTo Check_Timers 'throw away... Else Clear statusbyte 'reset the status byte GoTo Check_Timers 'throw away End If EndIf If StBit =1 Then 'should be faster than If Bytein > 127 Then 'status byte received, bit 7 is set Clear statusbyte 'if on another channel, the statusbyte needs a reset Select Bytein 'eqv to Select case ByteIn Case NoteOff_Status statusbyte = Bytein Set noteUit '= 255 'reset value. Cannot be 0 !!! Set release '= 255 '0 is a valid midi note! Case NoteOn_Status statusbyte = Bytein Set noteAan '= 255 Set velo '= 255 Case Keypres_Status 'used for lights - no longer. statusbyte = Bytein Set notePres '= 255 Set pres '= 255 Case Control_Status ' this is the main thing to listen to.... statusbyte = Bytein Set Ctrl '= 255 Set value '= 255 ' Case ProgChange_Status ' statusbyte = Bytein ' prog = 255 ' Case Aftertouch_Status ' statusbyte = Bytein ' aft = 255 ' Case Pitchbend_Status ' statusbyte = Bytein ' pblsb = 255 ' pbmsb = 255 End Select Else 'midi byte is 7 bits Select statusbyte Case 0 'not a message for this channel GoTo Check_Timers 'disregard Case NoteOff_Status If noteUit = 255 Then noteUit = Bytein Else release = Bytein 'message complete, so we can do the action... Select noteUit Case 0 Clear Lites.0 Clear VelFlags0.0 'Low Yellow0 = sets TRIS also Clear Yellow0 ' = 0 ' one machine cycle only Case 1 Clear Lites.1 Clear VelFlags0.1 Clear Yellow1 '= 0 Case 2 Clear Lites.2 Clear VelFlags0.2 Clear Red0 '= 0 Case 3 Clear Lites.3 Clear VelFlags0.3 Clear Red1 '= 0 Case 4 Clear Lites.4 Clear VelFlags0.4 Clear Blue0 '= 0 Case 5 Clear Lites.5 Clear VelFlags0.5 Clear Blue1 '= 0 End Select Set noteUit '= 255 'reset EndIf GoTo Check_Timers Case NoteOn_Status If noteAan = 255 Then noteAan = Bytein Else velo = Bytein If velo = 0 Then Select noteAan Case 0 Clear Lites.0 '= 0 Clear VelFlags0.0 Clear Yellow0 '= 0 Case 1 Clear Lites.1 '= 0 Clear VelFlags0.1 Clear Yellow1 '= 0 Case 2 Clear Lites.2 '= 0 Clear VelFlags0.2 Clear Red0 '= 0 Case 3 Clear Lites.3 '= 0 Clear VelFlags0.3 Clear Red1 '= 0 Case 4 Clear Lites.4 '= 0 Clear VelFlags0.4 Clear Blue0 '= 0 Case 5 Clear Lites.5 '= 0 Clear VelFlags0.5 Clear Blue1 '= 0 End Select Set noteAan '= 255 'reset !!! GoTo Check_Timers 'jump out EndIf 'omleiding van de kode naar keypres: If noteAan < 6 Then If velo < 127 Then notePres = noteAan pres = velo GoSub KeyPres Else ' plain ON without flashing Select noteAan Case 0 Set Lites.0 Clear VelFlags0.0 Set Yellow0 '= 1 Case 1 Set Lites.1 Clear VelFlags0.1 'so flashing is reset Set Yellow1 '= 1 Case 2 Set Lites.2 Clear VelFlags0.2 Set Red0 '= 1 Case 3 Set Lites.3 Clear VelFlags0.3 Set Red1 '= 1 Case 4 Set Lites.4 Clear VelFlags0.4 Set Blue0 '= 1 Case 5 Set Lites.5 Clear VelFlags0.5 Set Blue1 '= 1 End Select EndIf End If Set noteAan '= 255 'reset EndIf GoTo Check_Timers Case Keypres_Status 'used for lite flashing speed modulation If notePres = 255 Then notePres = Bytein Else pres = Bytein GoSub KeyPres EndIf GoTo Check_Timers Case Control_Status 'this is where the action takes place for controllers If Ctrl = 255 Then Ctrl = Bytein Else value = Bytein GoSub Controller EndIf GoTo Check_Timers ' Case ProgChange_Status ' If prog = 255 Then 'single byte message ' prog = Bytein 'weak coding... ' GoSub ProgChange ' EndIf End Select EndIf Check_Timers: ' here we check the Task counters and compare them with the 32 bit cnt value ' using the Velflags dword variable: If VelFlags0 > 0 Then 'if any bit is set here, there is a timer running If VelFlags0.0 = 1 Then veltim.Word1 = Velmsb[0] veltim.Word0 = VelLsb[0] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task0 'note 0 Yellow0 EndIf If VelFlags0.1 = 1 Then veltim.Word1 = Velmsb[1] veltim.Word0 = VelLsb[1] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task1 'note 1 Yellow1 EndIf If VelFlags0.2 = 1 Then veltim.Word1 = Velmsb[2] veltim.Word0 = VelLsb[2] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task2 'note 2 Red0 EndIf If VelFlags0.3 = 1 Then veltim.Word1 = Velmsb[3] veltim.Word0 = VelLsb[3] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task3 'note 3 Red1 EndIf If VelFlags0.4 = 1 Then veltim.Word1 = Velmsb[4] veltim.Word0 = VelLsb[4] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task4 'note 4 Blue0 EndIf If VelFlags0.5 = 1 Then veltim.Word1 = Velmsb[5] veltim.Word0 = VelLsb[5] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task5 'note 5 Blue1 EndIf 'Else ' If CntHw > 0xFF Then Clear CntHw EndIf Motor_Check: Cnt.Word0 = CntLw ' read counter If Cnt.12 <> tBit Then ' Cnt.14 sets the refresh rate at 4 S/s ' Cnt.13 at 8 S/s ' Cnt.12 at 16 S/s ' Cnt.11 at 32 S/s ' Cnt.10 at 64 S/s ' was Cnt.12 in code version 2.0 on tBit = Cnt.12 'SensorVal = ReadADC(0) ' Read the ADC value from the tilt sensor - using the macro ' now done in the low interrupt handler, at 64 S/s 'this is a 10 bit value, right adjusted. If SensorVal >= 256 Then TmpVal = SensorVal - 256 Else Clear TmpVal 'nowval is byte ' tmpval now has a range of 0-512, with 256 in the middle : 9 bits nowval = TmpVal >> 1 ' divide by 2, to get a 8 bit range again. If nowval > 255 Then nowval = 255 ' make sure we do not overflow ' Coding without integration: If nowval <> oldval Then ' for monitoring sensor readout via midi-out HRSOut 160 + Midichannel, 60, nowval/2 oldval = nowval EndIf 'now compare this with the Soll-value in CC22 'CC22 is only 7 bit, sollPos is 8 bit Select nowval Case Sollpos ' CC22 * 2 'Requested position reached: switch off motor power. THIS WORKS 'the gears are strong enough to hold the bassoon in place. HPWM 2, 255, PWMminF 'dir HPWM 1, 255, PWMminF 'speed inverted PWM !!! 'we should obtain the same result with: ' High MotorDir ' HPWM 1, 255, PWMminF 'in fact, as long as both PWM values are the same, 'the motor will be stopped. If PowerOn = 0 Then Clear GreenLED Clear YellowLED Else Set GreenLED Set YellowLED EndIf Set BlueLED GoTo LOOP Case > Sollpos ' huidige positie groter dan sollpos 'motor CW - achterwaarts draaien 'sensor values must go down. 'motor speed should be function of length of traject to go 'traject is: traj = nowval - sollval ' CC22 'but, a minimum torque -depending on the angle- is required to start up. 'here we try to implement the effect of the weight of the load. 'Traj = nowval - Sollpos ' af te leggen weg 'If nowval < 128 Then ' this is wrong, we should take the point of equilibrium ' as a reference. If nowval < EqPos Then 'falling backwards: whether cc22 > 63 of CC22 < 63 does not matter 'motorforce can be small, as weight helps movement Traj = EqPos - nowval Speed = MinSpeed + Traj ' 21.05.2011 Else 'motor will be climbing, motorforce should be large Traj = nowval - EqPos Speed = MaxSpeed - (VoorMaxTraj - Traj) ' 96 = maximaal trajekt End If Speed = Speed Min MaxSpeed 'faster coding for setting the limit Speed = Speed Max MinSpeed ' for testing 26.04.2011 HPWM 2, 0, PWMminF HPWM 1, Speed, PWMminF Clear GreenLED Clear BlueLED Set YellowLED GoTo LOOP Case < Sollpos ' seinpos < sollpos ' de fagot moet naar voor bewegen 'Traj = Sollpos - nowval If nowval < EqPos Then ' < 52 Then 'motor will be climbing 'motorforce must be medium high Traj = EqPos - nowval Speed = MaxSpeed - (AchterMaxTraj - Traj) ' 22.05.2011 Else 'motor will be falling 'regardless the value of CC22 'motorforce can be low Traj = nowval - EqPos Speed = MinSpeed + Traj ' 21.05.2011 EndIf Speed = Speed Min MaxSpeed Speed = Speed Max MinSpeed ' for testing 26.04.2011 HPWM 2, Speed, PWMminF HPWM 1, 0, PWMminF Set GreenLED Clear YellowLED Clear BlueLED GoTo LOOP End Select EndIf GoTo LOOP ' end of the main loop KeyPres: 'the note to which the pressure should be applied is passed in NotePres, the value in Pres 'here we use it for flashing lights on Fa. Select notePres Case 0 If Lites.0 = 1 Then Set VelFlags0.0 Cnt.Word0 = CntLw 'read timer Task_rsi[0] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[0] 'add the period duration Velmsb[0] = veltim.Word1 VelLsb[0] = veltim.Word0 Else Clear VelFlags0.0 Clear Yellow0 EndIf Case 1 If Lites.1 = 1 Then Set VelFlags0.1 Cnt.Word0 = CntLw 'read timer Task_rsi[1] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[1] 'add the period duration Velmsb[1] = veltim.Word1 VelLsb[1] = veltim.Word0 Else Clear VelFlags0.1 Clear Yellow1 EndIf Case 2 If Lites.2 = 1 Then Set VelFlags0.2 Cnt.Word0 = CntLw 'read timer Task_rsi[2] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[2] 'add the period duration Velmsb[2] = veltim.Word1 VelLsb[2] = veltim.Word0 Else Clear VelFlags0.2 Clear Red0 EndIf Case 3 If Lites.3 = 1 Then Set VelFlags0.3 Cnt.Word0 = CntLw 'read timer Task_rsi[3] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[3] 'add the period duration Velmsb[3] = veltim.Word1 VelLsb[3] = veltim.Word0 Else Clear VelFlags0.3 Clear Red1 EndIf Case 4 If Lites.4 = 1 Then Set VelFlags0.4 Cnt.Word0 = CntLw 'read timer Task_rsi[4] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[4] 'add the period duration Velmsb[4] = veltim.Word1 VelLsb[4] = veltim.Word0 Else Clear VelFlags0.4 Clear Blue0 EndIf Case 5 If Lites.5 = 1 Then Set VelFlags0.5 Cnt.Word0 = CntLw 'read timer Task_rsi[5] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[5] 'add the period duration Velmsb[5] = veltim.Word1 VelLsb[5] = veltim.Word0 Else Clear VelFlags0.5 Clear Blue1 EndIf End Select Set notePres '= 255 Return ProgChange: Set prog '= 255 'this is not realy required Return Pitchbend: 'only implemented on dsPIC based robots Set pblsb '= 255 Return Aftertouch: 'this is the channel aftertouch, affecting all notes Set aft '= 255 'not mandatory Return Controller: Select Ctrl Case 21 ' maybe it would be better not to allow users to send this controller.. CC21 = value 'HRSout Control_Status, 21, CC21 ' for development we use this controller to steer the minimum speed required ' for the motor to run. MinSpeed = CC21 << 1 'value * 2 ' we should recalculate maxspeed as well here... Case 22 CC22 = value Sollpos = CC22 << 1 ' make 8 bits If Sollpos < MinPos Then Sollpos = MinPos '36-84 for 20 degree traject If Sollpos > MaxPos Then Sollpos = MaxPos Case 23 'for code development only ' MaxSpeed = 1 + value CC23 = value ' leave this one 7 bits If MinSpeed + MaxTraj + value <= 255 Then MaxSpeed = MinSpeed + MaxTraj + value Else MaxSpeed = 255 End If Case 66 'on/off for the robot If value = 0 Then Clear PowerOn 'CC66.0 GoSub PowerDown Else Set PowerOn 'CC66.0 CC22 = 64 'start with vertical position EndIf Case 123 GoSub AllNotesOff End Select Set Ctrl '= 255 'mandatory reset Return AllNotesOff: 'should this do something to the motor??? NO. 'maybe just reduce maxspeed to 56 'MaxSpeed = 56 Clear VelFlags0 'stop all running timers Clear Yellow0 Clear Yellow1 Clear Red0 Clear Red1 Clear Blue0 Clear Blue1 'no change on motor speed!!! 'no motor turn off Low Debug_Led Clear Lites Return PowerDown: 'should return the motor to vertical position and than switch off Clear VelFlags0 'stop all running timers Clear Yellow0 '= 0 Clear Yellow1 '= 0 Clear Red0 '= 0 Clear Red1 '= 0 Clear Blue0 '= 0 Clear Blue1 '= 0 CC22 = 64 'this should make the motor move ' MaxSpeed = 56 'making sure we have no oscillations. ' CC23 = 27 Low Debug_Led Clear Lites Return Task0: If Lites.0 = 0 Then Clear VelFlags0.0 'stop task, as lite is switched off Clear Yellow0 '= 0 ' geel Else 'reload task0 - light 'Set VelFlags0.0 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[0] 'add the period duration Velmsb[0] = veltim.Word1 VelLsb[0] = veltim.Word0 'Toggle Yellow0 btg Yellow0 EndIf Return Task1: If Lites.1 = 0 Then Clear VelFlags0.1 'stop task, as lite is switched off Clear Yellow1 ' = 0 ' geel Else 'reload task1 light: 'Set VelFlags0.1 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[1] 'add the period duration in Task_rsi[1] Velmsb[1] = veltim.Word1 VelLsb[1] = veltim.Word0 'Toggle Yellow1 btg Yellow1 EndIf Return Task2: If Lites.2 = 0 Then Clear VelFlags0.2 'stop task, as lite is switched off Clear Red0 ' rood Else 'reload task2 - light 'Set VelFlags0.2 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[2] 'add the period duration Velmsb[2] = veltim.Word1 VelLsb[2] = veltim.Word0 'Toggle Red0 btg Red0 EndIf Return Task3: If Lites.3 = 0 Then Clear VelFlags0.3 'stop task, as lite is switched off Clear Red1 'rood Else 'reload task3 - light 'Set VelFlags0.3 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[3] 'add the period duration Velmsb[3] = veltim.Word1 VelLsb[3] = veltim.Word0 'Toggle Red1 btg Red1 EndIf Return Task4: If Lites.4 = 0 Then Clear VelFlags0.4 'stop task, as lite is switched off Clear Blue0 Else 'reload task4 - light 'Set VelFlags0.4 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[4] 'add the period duration Velmsb[4] = veltim.Word1 VelLsb[4] = veltim.Word0 'Toggle Blue0 btg Blue0 EndIf Return Task5: If Lites.5 = 0 Then Clear VelFlags0.5 'stop task, as lite is switched off Clear Blue1 Else 'reload task5 - light 'Set VelFlags0.5 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[5] 'add the period duration Velmsb[5] = veltim.Word1 VelLsb[5] = veltim.Word0 'Toggle Blue1 btg Blue1 EndIf Return '[EOF]