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On the software side, the new terms and definitions are as follows:
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An object is a piece of software that contains any number of methods that can be called by other programs if they have been defined as PUB or public routines (methods). Any program that wants to use the programs in an object has to declare its intentions in the OBJ part of the program. An object itself does not have to be executable, although most are. Methods and nesting An important part of the way the Spin language is defined is the lack of a RETURN statement and the way in which this fact is compensated for. In the Spin language, a subroutine is called a method. All methods are terminated with a blank line. All statements that are a part of a repeat structure in a program listing are made part of the repeat structure by insetting them by one or more spaces. This is illustrated in Program 9-1.
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program 9-1
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repeat 'movement loop iters:=pot2 'set number of iterations to perform index:=0 'reset index repeat iters 'do iterations index:=index+1 'increment index targetPosition:=targetPosition+index 'set new position waitcnt(clkfreq/Pot1+cnt) 'wait time for iteration repeat iters 'now do the slow down index:=index-1 targetPosition:=targetPosition+index waitcnt(clkfreq/Pot1+cnt) repeat while startFlag==0 'wait till done waitcnt(clkfreq+cnt) 'delay to see stop targetPosition:=startPosition 'set to go back waitcnt(24_000+cnt) 'wait to get done repeat while startFlag==0 'wait till done waitcnt(clkfreq+cnt) 'delay to see stop
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Process A program is called a process in the Spin language. Method Subroutines are called methods in the Spin language. Latency Latency is the time between when an action is required to take place and
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when it actually takes place. The concept is particularly relevant in the Spin language because each cog gets access to the mutually exclusive resources only when it is that cog s turn. So the possibility exists that when a cog is about to ask for some piece of information, it becomes some other cog s turn and the first cog now has to wait until its next turn to get the information it requires. This is the worst-case latency for this particular scenario. See the Propeller Manual for a discussion of this topic. Other processors also have latency, but this is not as critical as it is in the Propeller system because of the multiple processors and the resource sharing requirements. Variable assignments Variables are assigned in two ways: either as shared variables or as variables local to a method. Shared variables are declared under the VAR block, like this:
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VAR long long long long long long long long long long Pos[3] stack2[25] stack3[25] stack4[25] stack5[25] stack6[25] stack7[25] pulswidth startPosition PresentPosition 'Create buffer for encoder 'space for Cog_LCD 'space for Cog_SetMotorPower 'space for Cog_RunMotor 'space for Cog_FigureGain 'space for Cog_Start 'space for readopts ' ' '
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TargetPosition PositionError startFlag gain pot1 Pot2 iters index
' ' ' '
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Local variables are declared on the first line of the method, like so:
PUB POSITION (LINE_NUMBER, HOR_POSITION)|CHAR_LOCATION 'Position the cursor 'Line Number : 1 to 2 'Horizontal Position : 1 to 20 'specified by the two numbers CHAR_LOCATION :=(LINE_NUMBER-1)*64 'figure location. See Hitachi HD44780 CHAR_LOCATION +=(HOR_POSITION-1)+128 'fig loc. See Hitachi HD44780 SEND_INSTRUCTION2 (CHAR_LOCATION) 'send the instr to set cursor
In the preceding code, LINE_NUMBER, HOR_POSITION, and CHAR_ LOCATION are local variables available only in the public POSITION method. Local variables are stored in the main memory, not in the cog memory. They do not take up cog memory space.
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The Spin Language
note I find that the best way to use the Propeller Manual is to have a hard copy in hand for reference and the latest version of the manual in electronic format open in a window on the computer screen. This way, you can search as well as cut and paste from the manual rapidly when you need to. However, nothing beats having the book in your hand and nothing beats being able to read in bed! note In the program listings, I have tried to use a straightforward programming style that s easy for beginners to read and understand. If you look at the published listings, you will see that it is possible to write much more efficient code, but this would make the code harder to read. I have tried to avoid this whenever possible. Once you get comfortable with Spin, you can convert what I have provided to a more efficient format that suits your programming style.
You should have a hard copy of the Propeller Manual (PM) in your possession for reference as we proceed with this chapter. This is especially important because, as of this writing, the manual is the definitive authority on the Propeller chip, the Spin language, and the Assembly language. You cannot do much without it. Almost all experiments in this book are performed on and with the Propeller Education Kit as provided by Parallax. I used the version with the 40-pin chip. All illustrations show wiring on this kit. All wiring diagrams are for this kit, although they all will work on other hardware. Both the Development Board and the Demo Board are also suitable, but minor modifications to the software might be required to reflect the appropriate addressing changes you find necessary. Before we can start writing simple routines that will allow us to learn how to use the Propeller chip, we need to have a rudimentary understanding of how the language is used to write programs. The new higher-level language Parallax has designed specifically for this chip is called Spin. Spin is an object-oriented language that shares some properties with simpler languages such as BASIC. However, it is a very powerful language, and you will find that it is not hard to learn, especially considering that there is no alternative other than the even-harder-to-learn Assembly language (PASM) if you want to use the Propeller chip.
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