Question(s) Axon Programming Questions

[WGhost9]

haha, thats the trouble, I cant find it in any header :P-- which of course would be exactly why its not recongized by the compiler. If only I knew the header I could include it :/

[Adrenalynn]

http://www.wingrep.com/

[lnxfergy]

timer640.h

Right out of the documentation on Society of Robots: http://www.societyofrobots.com/axon/...t.shtml#delays

There are two ways to create a time delay, or a pause, in your code. The first way offers the maximum time resolution possible. This method should be used if you do not require exact timing, but works well enough for servos and general wait commands:
delay_cycles(65500);
The second method involves using a timer interrupt on timer0. Typically this is the 'correct' wait for doing a delay, but could potentially cause conflicts if you are using other timer interrupts or have other time-sensitive algorithms running simultaneously.
delay_us(1000);//delay for 1000us
delay_ms(1000);//delay for 1000ms
delay_cycles uses a long int, so you can't delay more than 2^16 = 65536 (for 0 to 65535). Just do something like this to delay longer:
delay_cycles(65500);
delay_cycles(65500);
delay_cycles(65500);
Refer to timer640.h for more documentation on the timer. Note that the compiler will ignore delay_cycles if you turn on compiler optimization.

[WGhost9]

Thanks for all the advice; timer640.h indeed includes the timer_inits however it is already #included in the SOR_UTILS and should therefore be defined. I treid including it a second time in my control.c but the functions remain unrecognized.

[lnxfergy]

Originally Posted by WGhost9

Thanks for all the advice; timer640.h indeed includes the timer_inits however it is already #included in the SOR_UTILS and should therefore be defined. I treid including it a second time in my control.c but the functions remain unrecognized.

is the code possibly wrapped in a #ifdef? Might you be missing a definition related to which processor? Are you sure you have a good makefile (where said definitions would typically be)?

-Fergs

[WGhost9]

Aha-ha! I have found the problem; the version of the timer reset and timer inits in Timer640.h have a '_' removed and added respectively changing their names slightly. Correcting their names in the ps2 code causes them to be recognized succesfully. However, this version of timer_init is no longer a void input but requires an input (defined as uint8 prescalar). I am working on what this input should be, but any suggestions are welcome . Thanks for the continued support.

[WGhost9]

Update 2: Getting the timer functions to be recognized does not prevent the Axon from crashing on the line

delay_ms(1);

[WGhost9]

Well today I go to write some inverse kinematics for my Axon controlled project only to find it lacks basic math functions like square root and inverse sine etc. Currently I am messing around with trying to import math.h from the c library of Microsoft studio but it is proving annoyingly problematic. Rather than reinvent the wheel, I was wondering i anyone here has already written a math.h for the axon and would be so kind as to share it. Thanks very much,

WGhost9

[lnxfergy]

Originally Posted by WGhost9

Well today I go to write some inverse kinematics for my Axon controlled project only to find it lacks basic math functions like square root and inverse sine etc. Currently I am messing around with trying to import math.h from the c library of Microsoft studio but it is proving annoyingly problematic. Rather than reinvent the wheel, I was wondering i anyone here has already written a math.h for the axon and would be so kind as to share it. Thanks very much,

WGhost9

You probably want the math library from AVR-Libc
http://www.nongnu.org/avr-libc/user-...avr__math.html

-Fergs

[Adrenalynn]

Originally Posted by Adrenalynn

[Moderator Note: Threads merged. They didn't really need to stand alone. Both were "Axon Programming Questions" as/per original. Thanks! -A]

[Moderator Note: Threads merged. They didn't really need to stand alone. Both were "Axon Programming Questions" by the same user, as/per original. Thanks! -A]