Hi,

I was wondering if any of you have a function to turn asuro left or right?

I am mostly interested to turn asuro left or right 90 degrees.

Any help appreciated.

Regards,
giannis

Hello Giannis,

Most simple way is to do this with the program EASY ASURO.

See the ASURO downloads at our homepage.

Good luck!

Aalt

Thanks for the quick response,

I dont see any software called EasyASURO in your download page.
Do you mean Doctor ASURO?

Regards,
Giannis

Hello Giannis,

the info site is currently not translated to english - sorry for that - here the link to the German Version:
http://www.arexx.com/arexx.php?cmd=syst ... pro.dat|DE)

The Program itself is in English. It is still BETA Release so you may encounter some Bugs.


Anyway - if you want to use C - have a look at :
http://www.asurowiki.de/pmwiki/pmwiki.php
http://www.asurowiki.de/pmwiki/pub/html/index.html
http://sourceforge.net/projects/asuro

This is a mixed german / english language project for a more advanced ASURO Library. It has a function "GoTurn" which does exactly what you want. It can move a specific distance and turn by specific angles.
Instead of asuro.h and asuro.c you have to change the makefile to use this library. There are several example files included in the download archive of this library.

Best regards,
SlyD

Sorry about asking again but because these links are in German and there quite a few links, Could you tell me which file to download from these? I downloaded the one from sourceforce but it does not seem to contain any function GoTurn.

Regards,
Giannis

There are some different files on Sourceforge!
You need AsuroLib 2.7.1!

Then have a look at the examples folder - and at the file "encoder.c".

GoTurn works like
GoTurn(distance, angle, speed)
if distance > 0 it moves for that distance at speed,
else if angle > 0 it rotates by that angle at speed.

I did not try this myself, but it should be fairly easy to use.

Best regards,
SlyD

Thanks a lot for your help my friend.

I will test this within a few day and confirm so other users know it as well.


Regards,
giannis

Hi,

I am having a look now but it seems that there is a file missing from here. myAsuro.h


Regards,
Giannis

Did you try to compile the examples? Does that work?
(for example "MotorTest" - there GoTurn is used...)

If it works - copy one of them completely with all files - especially the makefile. (The makefile need to have all the correct paths set up in order to find the files)

Your Computer is dumb and does not know where files are - you need to tell him

Best regards,
SlyD

Hi,

Because I am using the old make file, and i have done quite some work now and i dont really want to change it I have put into a file whatever the function GOTurn needs to run. I will clean this file and put it here these days.

My last problem is that I have this code:
Init();

MotorDir(FWD,FWD);
MotorSpeed(140,140);

GoTurn(0,90,120);

MotorSpeed(0,0);
MotorDir(BREAK,BREAK);

return 0;

To me it would seem that according to that code, asuro should turn 90 degrees and then stop executing. But what it does is keep turning forever.
Could this be because it does no exit the GoTurn function?

Would you have any advice on that?


Kind Regards,
Giannis

Hi again,

It seems that for some reason, asuro never escapes the following while loop inside the GoTurn function:

while (tot_count < enc_count)
{
tot_count += encoder [LEFT];
diff = encoder [LEFT] - encoder [RIGHT];

if (diff > 0)
{ /* Left faster than right */
if ((l_speed > speed) || (r_speed > 244))
l_speed -= 10;
else
r_speed += 10;
}

if (diff < 0)
{ /* Right faster than left */
if ((r_speed > speed) || (l_speed > 244))
r_speed -= 10;
else
l_speed += 10;
}
/* reset encoder */
EncoderSet (0, 0);

MotorSpeed (l_speed, r_speed);
Msleep (1);
}

Hope this may helps.

Regards,
Ioannis

Hi Again,

After a quick investigation. I attach the loop of the function I was talking before.

while (tot_count < enc_count)
{
tot_count += encoder [LEFT];
diff = encoder [LEFT] - encoder [RIGHT];

if (diff > 0)
{ /* Left faster than right */
if ((l_speed > speed) || (r_speed > 244))
l_speed -= 10;
else
r_speed += 10;
}

if (diff < 0)
{ /* Right faster than left */
if ((r_speed > speed) || (l_speed > 244))
r_speed -= 10;
else
l_speed += 10;
}
/* reset encoder */
EncoderSet (0, 0);

MotorSpeed (l_speed, r_speed);
Msleep (1);
}

As you can see from the code, the control will go out of the loop as soon the tot_count is equal or greater than enc_count. The variable tot_count depends on the encoder [LEFT]. Which encoder [LEFT] is getting reset to 0 at the end of the while loop every time " EncoderSet (0, 0);". From this it seems to me that the variable tot_count will never be equal or greater to enc_count, thus i think this is the reason why asuro keeps turning forever.

Would you have any suggestion on this?

Furthermore, I dont really understand what is the use of encoder [LEFT] and encoder [RIGHT].

Regards,
Giannis

Did you call

EncoderInit();

before using this stuff?

I don't think so

Best regards,
SlyD

Yeah I did call it in the main method, just before I call the function GoTurn.

So i dont think that this is the reason..


Regards,
Giannis

Uhm - I just noticed that you did not add a infinite loop at the edn - so try adding a

while(true)
{
}

just before the return 0;

I did not see this before but you always have to create a defined END of your Program on a Microcontroller. (in some cases it may restart if you do not do this! This would explain why it does not stop spinning. You should also add more than one movement - this would directly reveal such issues.)

Best regards,
SlyD