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BUILDING A JOYSTICK TEACHING PENDANT 541
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Call PutPin (MotLC, 0) Call PutPin (MotRD, 0) Call PutPin (MotRC, 1) Case 7 ' hard right Call PutPin (MotLD, 0) Call PutPin (MotLC, 1) Call PutPin (MotRD, 1) Call PutPin (MotRC, 1) Case 4 left Call PutPin (MotLD, 0) Call PutPin (MotLC, 1) Call PutPin (MotRD, 0) Call PutPin (MotRC, 0) Case 13 ' hard left Call PutPin (MotLD, 1) Call PutPin (MotLC, 1) Call PutPin (MotRD, 0) Call PutPin (MotRC, 1) Case 12 ' left reverse Call PutPin (MotLD, 1) Call PutPin (MotLC, 1) Call PutPin (MotRD, 0) Call PutPin (MotRC, 0) Case 3 ' right reverse Call PutPin (MotLD, 0) Call PutPin (MotLC, 0) Call PutPin (MotRD, 1) Call PutPin (MotRC, 1) End Select End Sub Private Sub SetRedLed (Flag As Boolean) If Flag = True Then Call PutPin (RedLED, LedOn) Else Call PutPin (RedLED, LedOff) RecordFlag = False End If End Sub Private Sub SetGreenLed (Flag As Boolean) If Flag = True Then Call PutPin (GreenLED, LedOn) Else Call PutPin (GreenLED, LedOff) PlayFlag = False End If End Sub Private Function GetPotValue(ByVal PinNumber As Byte) As Integer Const CapacitorDischargeTime As Integer = 4 Call PutPin(PinNumber, bxOutputLow) Call Sleep(CapacitorDischargeTime) GetPotValue = RCtime(PinNumber, 0) ' Timeout returns 0. End Function
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USING THE JOYSTICK TEACHING PENDANT
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In this section we briefly discuss how to use the joystick teaching pendant software, Joystick.bas. You ll want to read 32 to learn more about the BasicX-24 chip and how it s programmed. Follow these steps:
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1. Insert the BasicX-24 chip into a suitable carrier. 2. Attach the serial programming cable between your PC and the BasicX-24 carrier. 3. Connect a joystick to the BasicX-24, as shown in Fig. 34.3. For best results, use ribbon
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cables that have the appropriate header connectors. I used a ribbon cable originally designed for use in PCs. It is outfitted with the proper DB-15 connector for the joystick on one end and a 16-pin dual-row male header on the other. Apply power to the BX-24. Create a new project (Joystick2.Bxp) and be sure to add the SerialPort.Bas file as one of its files. Write the Joystick2.Bas program in Listing 34.1. When you are finished, be sure to save it (name it Joystick2.Bas ). Set up the BasicX Development System main program for the proper download port and monitor port. Compile and download the program. The program should automatically run after downloading is complete.
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Test the program by pushing the joystick. For the purposes of verification and testing, the Joystick2.Bas program uses the BasicX debug window to display the binary value of the four motor control bits (only the last four bits are used). For example, when you push the joystick forward, the text bx00000101 is shown in the debug window. The last four bits are 0101:
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0 LeftMotDir 1 LeftMotCtrl 0 RightMotDir 1 RightMotCtrl
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A value of 0 for LeftMotDir/RightMotDir means the motor is going forward (conversely, a value of 1 means the motor is going in reverse). A value of LeftMotCtrl/RightMotCtrl means that motor is activated. With the bits 0101, both motors are operating and are going forward. Note that the program samples the position of the joystick once every half-second.
RECORDING AND PLAYING BACK STEPS
Briefly depress button 1 (usually the fire button). The red LED on the BX-24 chip will light up to indicate that recording is on. In addition, a Recording On message is displayed in the debug window. The joystick is now in record mode, and the joystick positions are being stored in memory. Recording is simple in the Joystick2.Bas program: each half second the joystick position is stored in one element of a 60-element array. Since there are 60 elements and a new snapshot of the joystick controls is made every half second, this means there is a maximum of 30 seconds of recording. You can revise the program to add longer programming time, but note that the BX-24 has 400 bytes of memory. The more elements there are, the more memory is consumed. As written, Joystick2.Bas consumes about 190 bytes of RAM, so there is room for expansion if you wish. When you are done recording the steps you want, briefly depress button 1 again. The joystick will be taken out of record mode. You can play back your previously stored steps
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