Alterabot User Manual
Background
This project was done as a part of our Digital Design Laboratory course, which I later became a TA for (eventually becoming a Lead TA). The project was to design a robot self-test, to test as many features as possible on the AmigoBot. The course was a joint venture between the technical and the technical-writing faculty. Therefore, in addition to the assembly/VHDL code we had to write to make the self-test operational, we had to also write a manual for the usage of the self-test.
Challenges
Very few restrictions were in place as far as this project was concerned. The difficulty is making tests independant. For example, if the robot fails a test of moving, the question then becomes “where did the problem lie?” Was the battery power too low? Did the robot actually move, but the sensors failed? Did the motor enablers fail? Even more complicated, there are 8 IR emitters/receivers. If we don’t receive something, how can we be certain which IR failed, and was it the emitter or receiver? Coming up with a proper chain of tests proved challenging, as we were supposed to not rely on any external tools (the robot should be able to diagnose itself).
Complicating matters even further, the FPGA only had enough space for a program about 2KB in size after we loaded the simple computer hardware design we created.
Assembly Code
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; -------------------------------------------------- ; Prelims ; ------- ; Use this space to power up the robot, etc etc in order to test your robot. Nothing here should ; be an integral part of the robots functionality. It should be easily erased with no consequences. ORG &H00 ; Begin program at 00 Begin: LOAD One OUT Reset AllDone: JUMP AllDone ; ----------- ; End Prelims ; -------------------------------------------------- ; -------------------------------------------------- ; Experimental Functions ; ---------------------- ; Put all the functions you're testing here Pass: LOAD Zero ;;REPLACE THESE LINES WITH PASS CODE ADDI &HA OUT SevenSeg CALL WaitHalfSecond RETURN ClearIR: LOAD Zero STORE Local1 ClearIR_1: LOAD Local1 OUT IRcomm IN IRcomm CALL TestIR_1 JNEG ClearIR_1 RETURN TestIR: CALL ResetIR ;read in to reset IR IR0: CALL TestIR_2 ;select the IR emitter we want and load the code up OUT IREmit0 ;output the code CALL TestIR_1 ;increase local3 (the detector loop variable), wait for the emit to propogate, read it, compare it JNEG IR0 ;jump back to IR0 while local3 < 8 LOAD Local2 STORE IRE0 ;store whether we got the signal (1) or not (0) in IRE0 CALL ResetIR IR1: CALL TestIR_2 OUT IREmit1 CALL TestIR_1 JNEG IR1 LOAD Local2 STORE IRE1 CALL ResetIR IR2: CALL TestIR_2 OUT IREmit2 CALL TestIR_1 JNEG IR2 LOAD Local2 STORE IRE2 CALL ResetIR IR3: CALL TestIR_2 OUT IREmit3 CALL TestIR_1 JNEG IR3 LOAD Local2 STORE IRE3 CALL ResetIR IR4: CALL TestIR_2 OUT IREmit4 CALL TestIR_1 JNEG IR4 LOAD Local2 STORE IRE4 CALL ResetIR IR5: CALL TestIR_2 OUT IREmit5 CALL TestIR_1 JNEG IR5 LOAD Local2 STORE IRE5 CALL ResetIR IR6: CALL TestIR_2 OUT IREmit6 CALL TestIR_1 JNEG IR6 LOAD Local2 STORE IRE6 CALL ResetIR IR7: CALL TestIR_2 OUT IREmit7 CALL TestIR_1 JNEG IR7 LOAD Local2 STORE IRE7 ;end test, display results RETURN ResetIR: CALL ClearIR ;clear all IRs LOAD Zero STORE Local3 ;reset the loop counter STORE Local2 ;reset "working emitter" variable RETURN TestIR_1: CALL INCLocal3 CALL WaitHalfSecond IN IRcomm SUB Code JZERO TestIR_3 LOAD Local3 SUB Eight RETURN TestIR_3: LOAD One STORE Local2 ;need to select which IR decoder passed and store it into the correct variable (IRD0 - IRD7) ;ex: ird0 = 1 RETURN TestIR_2: LOAD Local1 OUT IRComm LOAD Code RETURN ;end IR testing WaitHalfSecond: LOAD Five STORE In1 CALL Delay RETURN WaitSecond: LOAD Zero ADDI 10 STORE In1 CALL Delay RETURN FTSevSeg: CALL INCLocal3 OUT SevenSeg OUT Timer RETURN FTFail: LOAD Local3 ADDI &H70 STORE In1 CALL Fail RETURN FTFive: IN Timer ADDI -50 RETURN SATFailFifty: LOAD Zero ADDI &H50 STORE In1 CALL Fail RETURN FiringTest: LOAD Zero STORE Local3 CALL FTSevSeg FT1a: IN Sonar1 SUB MaxReading JZERO FT2 CALL FTFive JNEG FT1a CALL FTFail FT2: CALL FTSevSeg FT2a: IN Sonar2 SUB MaxReading JZERO FT3 CALL FTFive JNEG FT2a CALL FTFail FT3: CALL FTSevSeg FT3a: IN Sonar3 SUB MaxReading JZERO FT4 CALL FTFive JNEG FT3a CALL FTFail FT4: CALL FTSevSeg FT4a: IN Sonar4 SUB MaxReading JZERO FT5 CALL FTFive JNEG FT4a CALL FTFail FT5: CALL FTSevSeg FT5a: IN Sonar5 SUB MaxReading JZERO FT6 CALL FTFive JNEG FT5a CALL FTFail FT6: CALL FTSevSeg FT6a: IN Sonar6 SUB MaxReading JZERO FT7 CALL FTFive JNEG FT6a CALL FTFail FT7: CALL FTSevSeg FT7a: IN Sonar7 SUB MaxReading JZERO FT8 CALL FTFive JNEG FT7a CALL FTFail FT8: CALL FTSevSeg FT8a: IN Sonar8 SUB MaxReading JZERO FTend CALL FTFive JNEG FT8a CALL FTFail FTend: LOAD Zero ADDI &HAA STORE In1 CALL WaitPB2 RETURN RightAngleTest: ; Description: This is designed to find the angle making the robot perpindicular ; to the wall ; Inputs: None ; Outputs: None ; Locked Variables: ; MinAngleNum ; MinReading3 ; MinReading4 ; NewReading ;Order: 2 CALL EnableWheels STORE IN1 CALL WaitPB2 RAT_A: IN Sonar3 ; In Sonar3 STORE Temp1 ; Store IN Sonar4 ; In Sonar4 SUB Temp1 ; Subtract 3 JPOS RAT_B ; Positive, 3 smaller, turn left JNEG RAT_C ; Negative, 4 smaller, turn right JUMP RAT_A RAT_B: LOAD One OUT DeltaHeading LOAD Two CALL RAT_1 JPOS RAT_B LOAD Zero ADDI -2 OUT DeltaHeading CALL Delay Return RAT_C: LOAD Zero SUB One OUT DeltaHeading LOAD Three CALL RAT_1 JNEG RAT_C LOAD Two OUT DeltaHeading CALL Delay Return RAT_1: STORE In1 STORE In2 CALL Wait IN Sonar3 ; In Sonar3 STORE Temp1 ; Store IN Sonar4 ; In Sonar4 SUB Temp1 RETURN ToWall: ; Description - This routine carries the robot to the wall and then back ; one meter to continue the test ; Inputs - None ; Outputs - None ; Locked variables - None ; Order - 2 LOAD Twenty OUT Velocity CALL Start CALL Stop CALL WaitHalfSecond AtWall: LOAD Two OUT Enable OUT SevenSeg LOAD Zero ADDI -200 ; Backwards 200 mm/s OUT Velocity CALL Start CALL ResetTimer AtWallLoop: CALL FTFive JNEG ATWallLoop CALL StopRobot CALL WaitHalfSecond RETURN INCLocal3: LOAD Local3 ADD One STORE Local3 RETURN SATFail: JPOS SATFail_1 ADDI 100 JNEG SATFail_1 CALL INCLocal3 RETURN SATFail_1: CALL INCLocal3 LOAD Temp1 STORE In1 LOAD SATread CALL StoreInDiff STORE In2 LOAD Local3 ADDI &H50 STORE In1 CALL Fail_by RETURN SAT_Condense_1: STORE Temp1 CALL WaitHalfSecond RETURN SAT_Condense_2: OUT DeltaHeading CALL WaitHalfSecond CALL ResetTimer RETURN SonarAccTest: CALL WaitHalfSecond LOAD Zero STORE Local3 ADDI -90 CALL SAT_Condense_2 SAT_1: IN Sonar1 CALL SAT_Condense_1 IN Sonar1 SUB Temp1 JZERO SAT_1A CALL FTFive JNEG SAT_1 CALL SATFailFifty SAT_1A: LOAD Temp1 SUB SATread JZERO SAT2 CALL SATFail SAT2: LOAD Zero ADDI 46 CALL SAT_Condense_2 SAT_2: IN Sonar2 CALL SAT_Condense_1 IN Sonar2 SUB Temp1 JZERO SAT_2A CALL FTFive JNEG SAT_2 CALL SATFailFifty SAT_2A: LOAD Temp1 SUB SATread JZERO SAT3 CALL SATFail SAT3: LOAD Zero ADDI 32 CALL SAT_Condense_2 SAT_3: IN Sonar3 CALL SAT_Condense_1 IN Sonar3 SUB Temp1 JZERO SAT_3A CALL FTFive JNEG SAT_3 CALL SATFailFifty SAT_3A: LOAD Temp1 SUB SATread JZERO SAT4 CALL SATFail SAT4: LOAD Zero ADDI 24 CALL SAT_Condense_2 SAT_4: IN Sonar4 CALL SAT_Condense_1 IN Sonar4 SUB Temp1 JZERO SAT_4A CALL FTFive JNEG SAT_4 CALL SATFailFifty SAT_4A: LOAD Temp1 SUB SATread JZERO SAT5 CALL SATFail SAT5: LOAD Zero ADDI 32 CALL SAT_Condense_2 SAT_5: IN Sonar5 CALL SAT_Condense_1 IN Sonar5 SUB Temp1 JZERO SAT_5A CALL FTFive JNEG SAT_5 CALL SATFailFifty SAT_5A: LOAD Temp1 SUB SATread JZERO SAT6 CALL SATFail SAT6: LOAD Zero ADDI 46 CALL SAT_Condense_2 SAT_6: IN Sonar6 CALL SAT_Condense_1 IN Sonar6 SUB Temp1 JZERO SAT_6A CALL FTFive JNEG SAT_6 CALL SATFailFifty SAT_6A: LOAD Temp1 SUB SATread JZERO SAT7 CALL SATFail SAT7: LOAD Zero ADDI 54 CALL SAT_Condense_2 SAT_7: IN Sonar7 CALL SAT_Condense_1 IN Sonar7 SUB Temp1 JZERO SAT_7A CALL FTFive JNEG SAT_7 CALL SATFailFifty SAT_7A: LOAD Temp1 SUB SATread JZERO SAT8 CALL SATFail SAT8: LOAD Zero ADDI 72 CALL SAT_Condense_2 SAT_8: IN Sonar8 CALL SAT_Condense_1 IN Sonar8 SUB Temp1 JZERO SAT_8A CALL FTFive JNEG SAT_8 CALL SATFailFifty SAT_8A: LOAD Temp1 SUB SATread JZERO SATend CALL SATFail SATend: LOAD Zero ADDI &HAA STORE In1 CALL WaitPB2 RETURN EnableWheels: LOAD One OUT Enable RETURN StopRobot: LOAD Zero OUT Velocity RETURN StoreInDiff: STORE In2 CALL Diff RETURN ; -------------------------- ; End Experimental Functions ; -------------------------------------------------- ; -------------------------------------------------- ; Good Functions ; -------------- ; Please do not modify these. They have been determined to be good ; through testing. Meet with group for approval before changing. TestBumpers: ; Description: This routine tests the bumpers. ; Inputs: <none> ; Outputs: <none> ; Locked Variables: In1, Local1, Local2, Local3, Local4 ; Order: 5 ; first, run into a wall and output to the seven segment CALL EnableWheels STORE Local2 LOAD BumperForward STORE Local4 LOAD Zero ADDI &he1 ;load "E1" for "experimenting 1" OUT SevenSeg LOAD Zero ADDI &H101 STORE Local3 ;expected value of the bumpers CALL TestBumpers_3 CALL WaitHalfSecond ; push the left wheel to expect a stall LOAD UserPBMask STORE Local3 STORE Local4 CALL TestBumpers_3 CALL WaitHalfSecond ; push the right wheel to expect a right stall LOAD One STORE Local4 STORE Local3 CALL TestBumpers_3 CALL WaitHalfSecond ;back the robot up a little LOAD Zero SUB Twenty OUT Velocity CALL Start CALL WaitHalfSecond CALL StopRobot CALL Stop ;;experimental rotation LOAD Zero ADDI 180 OUT DeltaHeading CALL Delay ;delay before going backwards ;;end experimental rotation ; backwards 2 wheel test CALL WaitSecond LOAD Zero SUB BumperForward ; now go back SUB One STORE Local4 LOAD Zero ADDI &H101 STORE Local3 ;expected value of the bumpers CALL TestBumpers_3 CALL WaitHalfSecond ; push the right wheel to expect a right stall LOAD Zero ADDI &H00FD STORE Local4 LOAD One STORE Local3 CALL TestBumpers_3 CALL WaitHalfSecond ; push the left wheel to expect a stall LOAD UserPBMask STORE Local3 LOAD BumperBackLeft STORE Local4 CALL TestBumpers_3 RETURN TestSingleBumper: CALL Start ; wait for the wheels to start moving CALL ResetTimer TestBumpers_1: IN Bumpers STORE Local1 ;store the bumper info into local1 AND Local3 JPOS TestBumpers_4 ;test OK IN Timer ADDI -70 ;maximum timeout of 7 seconds JNEG TestBumpers_1 ;loop if time not up LOAD Local2 ADDI &H61 STORE In1 CALL StopRobot CALL Stop CALL Fail RETURN TestBumpers_4: ;both bumpers working LOAD Zero ADDI &HA0 ADD Local2 RETURN TestBumpers_3: ;waits half a second and displays pass/fail codes CALL EnableWheels LOAD Local4 OUT LRVelCommand CALL TestSingleBumper OUT SevenSeg CALL StopRobot CALL Stop CALL WaitHalfSecond CALL Delay CALL EnableWheels CALL Delay CALL Delay LOAD Local2 ADD One STORE Local2 ADDI &HE0 OUT Sevenseg RETURN DipTest: ; Description: This routine tests DIP switches. ; Inputs: <none> ; Outputs: <none> ; Locked Variables: In1 ; Order: 2 DipTest_Low: LOAD Two ; '2' refers to low DIP test STORE In1 CALL WaitPB2 ; Wait until user presses PB2 IN Switches ; Read DIP switch values JZERO DipTest_Intermediate ; If all low, call intermediate subroutine JUMP DipTest_Fail ; Else, test fails DipTest_High: LOAD Three ; '3' refers to high DIP test STORE In1 CALL WaitPB2 ; Wait until user presses PB2 IN Switches ; Read DIP switch values ADD DipHigh ; Test against 8-bit value of 255: 00FF JZERO DipTest_Pass_High JUMP DipTest_Fail_High DipTest_Fail: LOAD Zero ADDI &H10 ; Display 'B' when low test fails STORE IN1 CALL Fail_All RETURN DipTest_Pass: CALL Pass RETURN DipTest_Intermediate: ; Intermediate subroutine JUMP DipTest_Pass JUMP DipTest_High DipTest_Pass_High: ; Display 'A' and hold for high test pass CALL Pass RETURN DipTest_Fail_High: ; Display 'B' and hold for high test fail LOAD Zero ADDI &H11 STORE IN1 CALL Fail_All CALL WaitHalfSecond RETURN L_test: ; Description: Performs the L-test ; Inputs: <none> ; Outputs: ; Locked Variables: Local1,Local2,Local3,In1,In2 ; Order: 1 LOAD One OUT Reset ADDI &H00E0 OUT SevenSeg CALL ResetTimer L_test_1: ;Verifies X is changing CALL FTFive JPOS L_test_fail_1 ;ADD IN1 Error Code L_test_1_1: IN Xposition JZERO L_test_1 CALL WaitPB2 IN Xposition STORE Local1 STORE IN1 LOAD SixFifty CALL StoreInDiff ADDI -65 JPOS L_test_fail_2 ;X position not changing L_test_1_2: CALL ResetTimer IN ThetaPosition STORE Local2 L_test_2: LOAD Zero ADDI &H00E2 OUT SevenSeg CALL FTFive JPOS L_test_fail_3 ;ADD IN1 Error Code L_test_2_1: IN Thetaposition SUB Local2 JZERO L_test_2 CALL WaitPB2 IN Thetaposition STORE Local2 STORE IN1 LOAD NientyDegrees CALL StoreInDiff ADDI -102 JPOS L_test_fail_4 ;ADD FAIL CONDITION L_test_2_2: CALL ResetTimer IN Yposition STORE Local3 L_test_3: LOAD Zero ADDI &H00E3 OUT SevenSeg CALL FTFive JPOS L_test_fail_5 ;ADD IN1 Error Code L_test_3_1: IN Yposition SUB Local3 JZERO L_test_3 CALL WaitPB2 IN Yposition STORE Local3 STORE IN1 LOAD SixFifty CALL StoreInDiff ADDI -65 JPOS L_test_fail_6 ;ADD FAIL CONDITION L_test_move: CALL EnableWheels LOAD Zero ADDI 180 OUT DeltaHeading ;TEST to find if delay is needed CALL START CALL STOP LOAD NormSpeed OUT Velocity ;Begin Moving in negative Y direction CALL Start L_test_move_y: IN Yposition JPOS L_test_move_y CALL StopRobot CALL Stop LOAD Zero ADDI 180 OUT Heading ;TEST to find if delay is needed LOAD Twenty STORE IN1 CALL Delay LOAD NormSpeed OUT Velocity CALL Start L_test_move_x: IN Xposition JPOS L_test_move_x CALL StopRobot CALL Stop LOAD Zero ADDI &H000A OUT SevenSeg RETURN L_test_fail_1: LOAD Fourty STORE IN1 CALL FAIL RETURN L_test_fail_2: LOAD Zero ADDI &H0041 CALL LTest_1 CALL FAIL_By JUMP L_test_1_2 L_test_fail_3: LOAD Zero ADDI &H0042 STORE IN1 CALL FAIL RETURN L_test_fail_4: LOAD Zero ADDI &H0043 CALL LTest_1 CALL FAIL_By JUMP L_test_2_2 L_test_fail_5: LOAD Zero ADDI &H0044 STORE IN1 CALL FAIL RETURN L_test_fail_6: LOAD Zero ADDI &H0045 CALL LTest_1 CALL FAIL_By JUMP L_test_move LTest_1: STORE IN1 LOAD OUT1 STORE IN2 RETURN LedTest: ; Description: This routine runs 00-FF on Seven Segment Display. ; Inputs: <none> ; Outputs: <none> ; Locked Variables: Local1, In1 ; Order: 3 LOAD Zero STORE Local1 LedTest_1: LOAD Local1 ADDI &H0011 ; Add 11 to Local variable, Local1 OUT SevenSeg STORE Local1 ADDI &HFE01 ; Test versus negative EE JZERO LedTest_Finish CALL WaitHalfSecond LOAD Local1 ADD DipHigh JNEG LedTest_1 ; While under FF, continue adding 11 LedTest_Finish: RETURN FuncTest: ; Description: This routine tests all SCOMP functions. ; Inputs: <none> ; Outputs: <none> ; Locked Variables: Local1, In1 ; Order: 5 LOAD Zero STORE Local1 LOAD Five ADD One SUB Two ADDI -4 JZERO Test1 JUMP FuncTest_Fail Test1: LOAD Local1 ADDI 5 JPOS Test2 JUMP FuncTest_Fail Test2: LOAD Local1 ADDI -6 JNEG Test3 JUMP FuncTest_Fail Test3: LOAD Four ;100 AND Five ;100 XOR Three ;111 OR Eight ;1111 ADDI -15 SHIFT -8 JZERO FuncTest_Pass JUMP FuncTest_Fail FuncTest_Pass: CALL Pass RETURN FuncTest_Fail: LOAD &H14 STORE In1 CALL Fail_All BatteryCheck: ; Description: This routine checks the battery level. ; Inputs: <none> ; Outputs: ; Out1 - 1 if battery is OK, 0 if battery is too low. ; Locked Variables: Out1 ; Order: 1 IN Status ; Get the battery voltage SHIFT -8 ; (It is in the upper byte of Status word) STORE In2 SUB MinBattLevel JNEG BatteryCheck_1 LOAD One STORE Out1 CALL Pass RETURN BatteryCheck_1: ;battery level too low LOAD Zero STORE Out1 ADDI &H50 ;50 = battery too low STORE In1 CALL Fail_By RETURN TestReset: ; Description: This tests the reset to make sure velocity and initial positions are 0 ; Inputs: <none> ; Outputs: ; Out1 - 1 for function pass, 0 for any failure. ; Locked Variables: Out1 ; Order: 2 LOAD One OUT Reset IN Xposition CALL TestReset_2 IN Yposition CALL TestReset_2 IN ThetaPosition CALL TestReset_2 IN LeftVelocity CALL TestReset_2 IN RightVelocity CALL TestReset_2 CALL Pass LOAD One STORE Out1 ;;END REPLACEMENT RETURN TestReset_1: LOAD Zero STORE Out1 ADDI &H12 STORE In1 CALL Fail RETURN TestReset_2: JPOS TestReset_1 JNEG TestReset_1 RETURN TestWheels: ; Description: Tests robot wheels ; Inputs: <none> ; Outputs: <none> ; Locked Variables: In1, Local1 ; Order: 4 CALL EnableWheels STORE Local1 CALL WaitSecond CALL TestWheels_1 LOAD LeftForward CALL TestWheels_1 LOAD BothForward CALL TestWheels_1 LOAD LeftBack CALL TestWheels_1 LOAD Zero ADDI &H00FA ;left wheel back CALL TestWheels_1 LOAD BothBack CALL TestWheels_1 RETURN TestWheels_1: OUT LRVelCommand LOAD Local1 OUT SevenSeg CALL Start CALL Delay CALL StopRobot CALL Stop CALL Delay LOAD Local1 ADD One STORE Local1 RETURN CommTest: ; Description: Tests robot communications ; Inputs: <none> ; Outputs: <none> ; Locked Variables: In1 ; Order: 3 IN Status SHIFT -8 JPOS CommTest_1 LOAD Zero ADDI &H13 STORE In1 CALL Fail_All CommTest_1: CALL Pass RETURN TestVelocity: ; Description: This routine test for a correct robot velocity ; Inputs: <none> ; Outputs: ; Out1 - The difference in number of clicks from 1 meter. ; Locked Variables: In1, In2, Out1, Local1 ; Order: 3 CALL EnableWheels OUT Reset LOAD Zero ADDI 125 CALL TestVelocity_4 LOAD WholeMeter CALL TestVelocity_5 JNEG TestVelocity_1 LOAD Zero ADDI &H60 STORE In1 CALL Fail_By JUMP TestVelocity_2 TestVelocity_1: CALL Pass TestVelocity_2: LOAD Zero ADDI -125 CALL TestVelocity_4 LOAD Zero OUT Enable LOAD Zero SUB WholeMeter CALL TestVelocity_5 JNEG TestVelocity_3 LOAD Zero ADDI &H61 STORE In1 CALL Fail_By RETURN TestVelocity_3: CALL Pass RETURN TestVelocity_4: OUT Velocity CALL Start ; wait for the wheels to start moving CALL WaitSecond CALL WaitSecond LOAD Fourty OUT Reset ADD Fourty STORE In1 CALL Delay ; wait 4 seconds IN Xposition STORE In1 CALL StopRobot CALL Stop ; wait for the wheels to stop moving RETURN TestVelocity_5: CALL StoreInDiff STORE In2 ADDI -190 RETURN Fail: ; Description: This function displays the error codes from individual tests ; Inputs: ; In1- The specific error code for a function ; Outputs: None ; Locked Variables: In1 ; Order: 2 CALL ResetTimer Fail_A: LOAD B CALL Failby_2 JPOS Fail_End CALL Failby_1 ; Display for 1s JNEG Fail_A CALL ResetTimer Fail_B: LOAD In1 ; Load error code CALL Failby_2 JPOS Fail_End CALL Failby_1 ; Check timer for 1s JNEG Fail_B JUMP Fail ; Jump back to display B for 1s Fail_End: IN Switches ; Wait for PB release before continue AND UserPBMask JPOS Fail_End RETURN Fail_All: ; Description: This is for catastrophic failures, basically turns robot off (endless loop) ; Inputs: In1- Error Code ; Outputs: None ; Locked Variables: None ; Order: 2 LOAD Zero OUT Enable CALL ResetTimer Failall_A: LOAD B OUT SevenSeg CALL Failby_1 JNEG Failall_A CALL ResetTimer Failall_B: LOAD In1 OUT SevenSeg CALL Failby_1 JNEG Failall_B JUMP Fail_All Fail_By: ; Description: This function displays the error codes with amount from individual tests ; Inputs: ; In1- The specific error code for a function (in hex) ; In2- The amount the test is off by ; Outputs: None ; Locked Variables: In1 ; Order: 2 CALL ResetTimer Failby_A: LOAD B CALL Failby_2 JPOS Failby_End CALL Failby_1 ; Display for 1s JNEG Failby_A CALL ResetTimer Failby_B: LOAD In1 ; Load error code CALL Failby_2 JPOS Failby_End CALL Failby_1 ; Check timer for 1s JNEG Failby_B CALL ResetTimer Failby_C: LOAD In2 ; Load error code CALL Failby_2 JPOS Failby_End CALL Failby_1 ; Check timer for 1s JNEG Failby_C JUMP Fail_by ; Jump back to display B for 1s Failby_End: IN Switches ; Wait for PB release before continue AND UserPBMask JPOS Failby_End RETURN Failby_1: IN Timer ADDI -10 RETURN Failby_2: OUT SevenSeg ; Display IN Switches ; PB end for error code AND UserPBMask RETURN Start: ; Description: This routine waits for the bot to start moving, then returns. ; Inputs: <none> ; Outputs: <none> ; Locked Variables: <none> ; Order: 1 IN Status ADDI -50 ; Hex 32 JZERO Start RETURN Stop: ; Description: This routine waits for the bot to stop moving, then returns. ; Inputs: <none> ; Outputs: <none> ; Locked Variables: <none> ; Order: 1 IN Status ADDI -51 ; Hex 33 JZERO Stop RETURN WaitPB2: ; Description: This routine waits for the user to press PB2, let go, then returns. ; Inputs: ; In1 - What to display on the seven segment display while waiting. ; Outputs: <none> ; Locked Variables: In1 ; Order: 1 LOAD In1 OUT SevenSeg IN Switches AND UserPBmask JZERO WaitPB2 WaitPB2_A: IN Switches AND UserPBmask JPOS WaitPB2_A RETURN Wait: ; Description: This routine is a timed delay. Minimum timer is .3 seconds ; Inputs: ; In1 - The number of 1/10 seconds to let pass ; In2 - What to display on the seven segment display while waiting. ; Outputs: ; Out1 - If the user pressed PB2 during the delay ; Locked Variables: In1, In2, Out1 ; Order: 2 LOAD Zero STORE Out1 ; Reset the output LOAD In1 SUB One STORE In1 CALL ResetTimer Wait_1: IN Timer ; This waits for the user to press and release the pushbutton to start SUB Two JNEG Wait_1 ; Assumed that they don't hold it for more than 1/10 of a second Wait_2: LOAD In2 OUT SevenSeg IN Switches AND UserPBmask OR Out1 STORE Out1 ; Remains 0 until user pushes PB2, then holds that value IN Timer SUB In1 JNEG Wait_2 LOAD Out1 SHIFT -8 STORE Out1 RETURN Delay: ; Description: This routine is a timed delay. ; Inputs: ; In1 - The number of 1/10 seconds to let pass ; Outputs: <none> ; Locked Variables: In1 ; Order: 2 LOAD Zero CALL ResetTimer Delay_1: IN Timer SUB In1 JNEG Delay_1 RETURN ResetTimer: ; Description: This resets the timer to 0 and starts it counting. ; Inputs: <none> ; Outputs: <none> ; Locked Variables: <none> ; Order: 1 LOAD Zero OUT Timer RETURN Diff: ; Description: This routine computes |A-B| ; Inputs: ; In1 - A ; In2 - B ; Outputs: ; Out1 - |A-B| ; Locked Variables: In1, In2, Out1 ; Order: 1 LOAD In1 SUB In2 JPOS Diff_1 LOAD In2 SUB In1 Diff_1: STORE Out1 RETURN ; Rotate: ; ; Description: This rotates CLOCKWISE. ; ; Inputs: ; ; In1 - The number of clockwise degrees to turn ; ; In2 - In1/.08789 (number of clicks for that many degrees) ; ; Outputs: <none> ; ; Locked Variables: In1, In2 ; ; Order: 2 ; LOAD Zero ; OUT Velocity ; ADDI 360 ; SUB In1 ; STORE In1 ;convert to counterclockwise degrees ; OUT Heading ; CALL Start ; Goal2: ; IN ThetaPosition ; SUB In2 ; JNEG Goal2 ; Keep turning CW until 270 degrees reached ; LOAD Zero ; OUT Velocity ; ;CALL Stop ; GoDistTime: ; ; Description: This function moves the robot at In2 velocity for In1 seconds. ; ; Inputs: ; ; In1 - Time to travel in .1s ; ; In2 - Velocity in mm/s, negative for reverse ; ; Outputs: <none> ; ; Locked Variables: In1, In2 ; ; Order: 2 ; LOAD One ; Load a one for the engines and display ; OUT Enable ; Enable motors ; LOAD In2 ; Load Desired Speed ; OUT Velocity ; Send to robot ; CALL Start ; CALL Delay ; CALL Stop ; RETURN ; GoDistX: ; ; Description: This function moves the robot In1 distance in the x direction. ; ; Inputs: ; ; In1 - Distance in mm/.5083 ; ; In2 - Velocity in mm/s, negative for reverse ; ; Outputs: <none> ; ; Locked Variables: In1, In2, Local1 ; ; Order: Two ; IN Xposition ; ADD In1 ; STORE Local1 ; LOAD In2 ; Load desired speed ; OUT Velocity ; GoDistX_A: ; IN Xposition ; Check x position for desired distance ; SUB Local1 ; JNEG GoDistX_A ; Exit when robot gets to desired position ; LOAD Zero ; Zero out velocity and motor ; OUT Velocity ; RETURN ; GoDistY: ; ; Description: This function moves the robot In1 distance in the y direction. ; ; Inputs: ; ; In1 - Distance in mm/.5083 ; ; In2 - Velocity in mm/s, negative for reverse ; ; Outputs: <none> ; ; Locked Variables: In1, In2, Local1 ; ; Order: Two ; IN Yposition ; ADD In1 ; STORE Local1 ; LOAD One ; Load one for motor and display ; OUT Enable ; LOAD In2 ; Load desired speed ; OUT Velocity ; GoDistY_A: ; IN Yposition ; Check x position for desired distance ; SUB Local1 ; JNEG GoDistY_A ; Exit when robot gets to desired position ; GoDistY_B: ; LOAD Zero ; Zero out velocity and motor ; OUT Velocity ; RETURN ; ------------------ ; End Good Functions ; -------------------------------------------------- ; -------------------------------------------------- ; Hardware addresses ; ------------------ ; Do not modify these. Ever. ; Timer: Timer: EQU &H02 ; Robot I/O registers -- The lower four bits are from the amigobot device data sheet, and the upper four bits are ; always &H8 because that's what must be decoded externally to Enable the amigobot device ; Outputs: Enable: EQU &H80 Velocity: EQU &H81 Heading: EQU &H82 DeltaHeading: EQU &H83 LRVelCommand: EQU &H88 Reset: EQU &H84 ; Inputs: Status: EQU &H80 Xposition: EQU &H81 Yposition: EQU &H82 ThetaPosition: EQU &H83 LeftVelocity: EQU &H84 RightVelocity: EQU &H85 Bumpers: EQU &H86 Sonar1: EQU &H88 Sonar2: EQU &H89 Sonar3: EQU &H8A Sonar4: EQU &H8B Sonar5: EQU &H8C Sonar6: EQU &H8D Sonar7: EQU &H8E Sonar8: EQU &H8F ; Other fixed addresses: Switches: EQU &H00 ; I/O read of address zero provides DIP Switches and one pushbutton SevenSeg: EQU &H01 ; I/O write to address zero writes to 7-segment display IRcomm: EQU &H04 ; I/O write selects an IR detector, I/O read gets detected signal (and clear) IRemit0: EQU &H05 ; I/O write emits an IR code (just once per OUT) IRemit1: EQU &H06 IRemit2: EQU &H07 IRemit3: EQU &H08 IRemit4: EQU &H09 IRemit5: EQU &H0A IRemit6: EQU &H0B IRemit7: EQU &H0C ; ------------------ ; End Hardware Addresses ; -------------------------------------------------- ; -------------------------------------------------- ; Global Constants ; ---------------- ; Consult with group before adding any of these. Zero: DW &H0000 ; @00 Constant of zero One: DW &H0001 ; @01 Constant of one Two: DW &H0002 ; Three: DW &H0003 ; Four: DW &H0004 ; Five: DW &H0005 ; Six: DW &H0006 ; Seven: DW &H0007 ; Eight: DW &H0008 ; Nine: DW &H0009 ; Twenty: DW &H0014 Fourty: DW &H0028 ; UserPBmask: DW &H0100 ; Masks off the user pushbutton in the switch input data MinBattLevel: DW &H0070 ; Don't start unless battery level is > this MaxSonar: DW &H1ABA NormSpeed: DW 100 MaxReading: DW &H1ABA Failed: DW &H0000 ; Local Sonar Failure SonarPassed: DW &H0000 ; Local Sonar Passed Temp1: DW &H0000 ; Temporary variable, not yet named Temp2: DW &H0000 ; Temp3: DW &H0000 ; MinDiff: DW &H0000 ; Min reading from sonar 4 on accuracy test MinAngle: DW &H0000 ; Smallest angle on perpendicular angle test TravSpeed: DW &H0000 ; Velocity for Move distance subfunctions TravDist: DW &H0000 ; Distance in mm/.5083 for move distance subfunctions TravTime: DW &H0000 ; Time in s for travel in move distance subfunctions AngleNum: DW &H0000 ; Current Angle in Right angle test MinAngleNum: DW &H0000 ; Current Angle closest to perp in RAT LeftForward: DW &H0500 BothForward: DW &H0505 LeftBack: DW &HFA00 BothBack: DW &HFAFA HalfTurn: DW &H800 BumperForward: DW &H0202 SixFifty: DW &H028A NientyDegrees: DW &H0400 DipHigh: DW &HFF01 WholeMeter: DW &H7B0 B: DW &H000B BumperBackLeft: DW &HFD00 Code: DW &H00DC SATread: DW 1050 IRE0: DW &H0000 IRE1: DW &H0000 IRE2: DW &H0000 IRE3: DW &H0000 IRE4: DW &H0000 IRE5: DW &H0000 IRE6: DW &H0000 IRE7: DW &H0000 ; -------------------- ; End Global Constants ; -------------------------------------------------- ; -------------------------------------------------- ; Variables ; ---------------- ; Double check all locked variables before using one of these in your functions. All variables initially 0. Out1: DW &H0000 ; Function output #1 In1: DW &H0000 ; Function input #1 In2: DW &H0000 ; Function input #2 Local1: DW &H0000 ; Local variable #1 Local2: DW &H0000 ; Local variable #2 Local3: DW &H0000 ; Local variable #3 Local4: DW &H0000 ; Local variable #4 ; -------------------- ; End Global Constants ; -------------------------------------------------- |
