RoboNova

RoboBASIC Manual

Wonky stuff

RCportTable wonky
Girotable other giros?!!!!
Chapter 8 - PWM  @454Hz (sic p90) or should this be 45KHz ?
(Is PWM useable with SERVO and MOVE on MR-C3000? p89)

Q2: "OFFSET" said the command has been added, but like many of the command? 
A2: zero effect compensation directly from the command. To use it, 
OFFSET G6A, 99, 100, 103, 100, 150, 50 
Like. 
"ZERO" command and feel the same, ZERO command is a visceral record that the EEPROM, but it  does not. 
0 x0340 ~ value of SRAM (zero-point correction) only rewrites. 
Also, ZERO, but the command is + -20, OFFSET command to -50 +. 
OFFSET command temporarily used, the zero point is changing, so please note that. 
When power from the internal EEPROM already set up zero-point correction after the value is 
  loaded, SRAM value of 0 x340 ~ only see the pulses, 
  and therefore, OFFSET command after the value is zero-point correction Changed. 
After use, you must undo. ?.? Variable does not work, so you must direct value. 
Use it to be what? ?.?variable is something that allows it is not directly in the value of ~… 

RoboBASIC Command Instruction Manual

Command Index

Appendix 1 - ACTION command
Appendix 2 - relevant RoboSavvy Posts
Appendix 3 - Remocon Keys and Template Actions
Appendix 4 - Servo Numbering

Communication commnds
[Note - the MR-C3024 can comunicate by the programming port and place a value in the first defined RoboBasic variable, see C3024+RTOS.txt]

ERX	receive RS-232 through RX port
ETX	transmit RS-232 through TX port

Analog commands

AD	read Analog value from AD port
REMOCON	read key value from IR remote control
SONAR	read distance from U/S sensor
RCIN	read pulse from RC receiver
GYRODIR	set direction of a Gyro
GYROSET	assign a gyro to a servo
GYROSENSE	set sensitivity of a gyro

Processing

ON...GOTO

skip according to value of variable

Other commands

REMARK	remark
RND	create a random number

Intention commands

$DEVICE	set the controller used
$LIMIT	confine range of a servo This does not work for the Robonova with the MR-C3024 controller.

Symbol	Description	Example
+	addition
-	subtraction
*	multiplication
/	division
%	remnant
.	bit designation
&	numeral
??	text
??	character string
:	label
=	equal
<	less than
>	greater than
<<	bit shift left	A<<2
>>	bit shift right	A>>1

Operator	relation	expression
=	equal	X=Y
<>	not equal	X<>Y
<	less than	X<Y
>	greater than	X>Y
<=	less or equal to	X<=Y
>=	greater or equal to	X>=Y

operator type precedence

1	arithmetic operator/bit operator
2	relational operator
3	logical operator

Number bases

binary number	&B	0,1	&B111101
Octal number	&O	0,..,7	&O75
Decimal number		0,..,9	61
Hex number	&H	0,..,F	&H3D

Variables
must be declared
first letter must be a character
_ and numerals can be used
maximum length of name is 64 characters
names are not case sensitive
maximum of 256 bytes of variable space
[Note - the MR-C3024 can communicate by the programming port and place a value in the first defined RoboBasic variable, see C3024+RTOS.txt]

     DIM motor_1 AS INTEGER
     DIM sensor_1 AS BYTE

Logic operators

     AND, OR, XOR, NOT

NOT inverts all the bits

Assignment =

     DIM a AS INTEGER
     DIM b AS INTEGER

     a =2
     b =a	

     A.1 =1
     A.3 =IN(1)
     OUT 2,A.1

     DIM a AS INTEGER
     CONST BIT_2 =2
     a.BIT_2 =0

Bit Operations
The table illustrates bit operations given
A=33, binary 00100001 and B=15, binary 00001111

Modulus
Modulus calculations use % or "MOD" to give the modulus

Labels
labels must not be longer than 64 characters and must be followed by :
line numbers 0-65535 can be used for labels, no : is needed
labels are not case sensitive.

     START:
         ....
         IF x=y THEN GOTO START
         ....
         GOSUB 10
         ....
         GOTO start
         ....
     10  OUT 1,0
         ....
         RETURN 

DIM variable AS type
	DIM a AS BYTE
	DIM b AS BYTE, c AS INTEGER

CONST
	CONST name = value
	CONST a =125
	CONST c =45238

ACTION		{p42}

See Appendix 1

Goto AUTO	{p43}

See Appendix 1

DELAY milliseconds

milliseconds can be literal, CONST or variable

END

Ends the program

FOR .... NEXT
	FOR variable=start TO end
	   statements
	 NEXT

end must be greater than start
Loops can be nested
Loops can be exited with IF...THEN GOTO...
Don't change the value of the loop variable

GOSUB label .... RETURN
		...
		GOSUB Dothis
		...
	Dothis:
		statements
		RETURN

only 5 deep GOSUB nesting

GOTO label

jump to label

ON...GOTO	'skip according to value of variable

IF condition THEN statement
	IF condition THEN
	   statement
	 ELSEIF condition THEN
	   statement
	 ELSE
	   statement
	 ENDIF

	eg	IF a>0 AND a<5 THEN b=2

STOP/RUN
	[does?]

makes the program either stop or run continously. When the program is stopped, using the RUN command will initiate it again. (sic)

WAIT

All servos in the group will finish a move at the same time {p87}.
Wait for all previous MOVEs to finish [i-Bot RoboSavvy Forum 30 Jul 2008].
Has no efect for a SERVO command

Chapter 5 - digital I/O

MRC3000 has 40 digital I/O ports
portnumber can be literal, CONST or variable

Ports 0~24 are the servo ports, G24 or G6A,G6B,G6C,G6D
Ports 32~39 are also the

   
IN(portnumber)
	DIM a AS bYTE
	a =IN(0)	'read port #0


      
OUT portnumber,value
	DIM a AS bYTE
	OUT 3,0		'write 0 to port #3


    
BYTEIN(byte portnumber)
	DIM a AS bYTE
	a =BYTEIN(0)	'read ports #0 - #7 into a


       
BYTEOUT byte portnumber,value
	BYTEOUT 0,255 	'send 1 to all bits



  
STATE(portnumber)
	DIM a AS BYTE
	OUT 0,1
	a =STATE(0)	'read state of port #0, a should be 1
	

  
PULSE(portnumber)
	PULSE 3		' send a 5us +ve pulse to port #3
	


      
TOGGLE(portnumber)
	TOGGLE(4)	'reverse state of port #4


   
KEYIN(,number of keys 1-16)
	DIM k AS BYTE			{p54}
	k =KEYIN(0,16)	'input values of 16 keys connected to port #0

	0 <= k <= 16		0 => no keys pushed
	[how are keys connected?]

   
PEEK(address)		'read internal memory
	address = 0 - 65535

  
POKE address,data	'write internal memory
	The command doesn't work for variables, it only works with CONSTANTs
	address = 0 - 65535
	data = 0 - 255

	POKE 25,13

  
ROMPEEK(address)		'read external memory

    
ROMPOKE address,data	'write external memory

Chapter 7 - LCD commands

	LCDINIT		'initialise LCD
	CLS		'clear LCD screen
	LOCATE character position 0-15,line 0-1	
	LOCATE 4,1
	PRINT "miniROBOT",126,"LCD"	'{see photo p66, char table p67}
	FORMAT()
	DEC()
	HEX()
	BIN()s
        
        
	CSON()		cursor ON/OFF
	CSOFF()
	CONT contrast value, default is 7

Gxx

Motors can be grouped for use in the MOTOR command.
The group name should be followed by a list of servo position values.
A compile error will arise if there are too many entries.
The values will be assigned in turn, not all entries need to be supplied.

eg

G6A,50,60,70,80,90,100   '#0-#5  to group A
'set servos; 0 to 50, 1 to 60, 2 to 70, 3 to 80, 4 to 90, 5 to 100

G6B,50,60,70,80          '#6-#11  to group B 
'set servos; 6 to 50, 7 to 60, 8 to 70, 9 to 80, do not alter servos 10,11

G6C,50,,,80,90,100       '#12-#17  to group C 
'set servos; 12 to 50, 15 to 80, 16 to 90, 17 to 100, do not alter servos 13,14



  
RoboNova standard wiring
  
G6A		
assign #0-#5   
to group A 
left leg
  
G6B		
assign #6-#11  
to group B 
left arm
  
G6C		
assign #12-#17 
to group C 
right arm
  
G6D		
assign #18-#23 
to group D 
right leg
  
other
  
G6E	
assign #24-#29 
to group E 
(no connectors)
  
 
 

  
G8A	
assign #0-#7   
to group A 

  
G8B	
assign #8-#15  
to group B 

  
G8C	
assign #16-#23 
to group C 

  
G8D	
assign #24-#31 
to group D 
(no connectors)
  
 
 

  
G12	
assign #0-#11  
           

  
G16	
assign #0-#15  
           

  
G24	
assign #0-#23  
           

  
G32	
assign #0-#31  
           
(no connectors) 
 

    
MOTOR
	'select which motors are ON
	MOTOR 0         'servo #0
	MOTOR variable  'use variable to specify motor
	MOTOR G6A       'use group 6A
	MOTOR G24       'use #0 - #23
	MOTOR ALLON     'use all

   
MOTOROFF
	MOTOROFF 0	'servo #0 off	- doesn't work! MOTOROFF n  sets servo n ON
	MOTOROFF G6A	'group 6A off
	MOTOROFF G24	'servos #0 - #23 off
	MOTOROFF ALLOFF	'all servos off




DIR group,direction bits  'default bitvalue is 0
	'DIRbit=1 => clockwise rotation is +ve	viewing on servo disk
	'DIRbit=0 => clockwise rotation is -ve	viewing on servo disk

	DIR G6B,1,0,1,1,1,1
	'or
	DIR G6B,1,,1,1,1,1	
		'servo #1 will turn anticlockwise for +ve
		'others  will turn clockwise for +ve


  
ZERO 	'adjust zero point
	ZERO G8B, 80,120,115,117,88,95,120	'set zeros of group 8B #8-#15

 
MOVE
	MOVE G6A,60, ,100,120
	MOVE G24,85,32 	'the same as MOVE24 85,32

See also WAIT which waits for a MOVE to finish.

 
SPEED byte_value
	'normal value is 3
	'byte_value can be a variable


PTP {SETON|SETOFF|ALLON|ALLOFF}
	'all servos end their move at the same time

	PTP SETON	'enable PTP for Groups
	PTP SETOFF	'cancel PTP for Groups
	PTP ALLON	'enable PTP for all servos
	PTP ALLOFF	'cancel PTP for all servos

	see also WAIT

 
SERVO number,angle
	angle is from 10 to 190
	equivalent to 180deg range
	100 is the default mid point
	number can be a variable
	angle can be a variable
	SERVO doesn't turn on a servo
		MOTOR 19	'turn on servo 19
		SERVO 19,88	'set servo 19 to 88
	WAIT doesn't work for SERVO


 
PWM port,duty
	PWM 0,120    'pulse output of 120 duty rate at PWM port #0

 
HIGHSPEED {SETON|SETOFF}
	highspeed is about 3 times faster than normal speed

  
MOVEPOS group,label .... POS
	MOVEPOS G6Ax,label2	'do the move at label2
	...
	label1: POS G6A,10,32,15,120,78,93
	label2: POS G6A,67,47,32,153,23,33
	label3: POS G6A,34,47,122,162,84,28

	[the Hitec manual, 
	"roboBASIC English Command Instruction Manual(Version 2.10 20051115).pdf"
	is wrong on the grammar for MOVEPOS]

  
FPWM port,frequency,duty	'a variable frequency PWM
	frequency   1 is low, 5 is high	'no mention of actual frequencies
	duty		0 - 255


  
MOVE24		'move all 24 servos simultaneously
MOVE G24	'move all 24 servos simultaneously
	MOVE24 100,23,56,73,120,,,,,,45,66,,56


  
INIT G8A 100,45,67,44,132,122,76,81
	'for analog servos, sets initial power-on position


MOTORIN()
	DIM S0 AS BYTE
	S0 =MOTORIN(0)	'read position (10 -190) of Motor #0, 0=> not connected

 
GETMOTORSET group,bit_list
	GETMOTORSET G8A,1,1,1,1,0,0,0,0
	'servos #0-#3 will be left at their current position, 
	'servos #4-#7 will be set to 100 at power on


AIMOTOR
	see manual p98 - 101	'serial controlled servos.
	not used in RoboNova.
	The Ai motor is the same visually as the RoboBuilder, servos p73

 
MUSIC....
	Note, servos are turned OFF during a MUSIC command

        
        
	Octaves are O0 ~ O6, O0 is lowest
	only O0 ~ O4 work properly with piezo sounder.
	M is O3
	The default octave is O3
        
        'MUSIC "O34GGAA GGE GGEED"
        'MUSIC "03GGA4.A GGE GEDEC"
	'(H,L only work in the lowest program in memory - see Appendix 1)

TEMPO byte_value	{p113}
	'higher values are faster
	'(only works in the lowest program in memory - see Appendix 1)

Chapter10 - communication commands

          

ERX speed,variables,error label	'receive
        DIM a AS BYTE
        ReadChar:  ERX 4,a,ReadChar     'GOTO ReadChar if an error occurs 
                                        'or Receive buffer is empty.
                   IF a=48 THEN
                     OUT 2,0
                    ELSE
                     OUT 2,1
                    ENDIF
                   .... 


TRX speed,data	'transmit
	DIM i AS BYTE
	i ="A"
	ETX 9600,i

Chapter11 - Analog signal commands

The MR-C3000 controller has 8 AtoD ports {0-7}, (Digital I/O ports 32-39).

DIM a AS BYTE
a =AD(1)     'get an analog value from port 1

Port 7 is used for the REMOCON IR controller.
The controller can be assigned up to 4 different IDs.
To change the ID
Press P1 and the desired ID number (1~4) and hold for two seconds.

DIM cmnd AS BYTE
CONST ID = 0         ' 1:0, 2:32, 3:64, 4:96,
cmnd =REMOCON(1)     'get a control value from REMOCON(1)
cmnd =cmnd -ID       'subtract ID to get actual control value

Digital I/O ports 0-23 can be used as Ultrasound ports
On a standard RoboNova only ports 5, 9, 10, 11, 15, 16, 17, 23 are free.

SONAR must be within the range of 0 to 3000.
0 implies the distance was not sensed.

DIM us AS BYTE
us =SONAR(3)      'get SONAR value from US_port 3, uses I/O_ports 6,7. See table

[Note the later SRF05 works much better]

DIM rc AS BYTE
rc =RCIN(0)      'get RC-servo pulse length from port 0

GYRODIR G6A,1,1,0,0,1,0      '1 increases servo value, 0 decreases it

[what are these? different sets of port numbers for different Gyros? {p136}]
01,02,03,04 :GWS PG03   11,12,13,14 : KRG-1
21,22,23,24 : reserved  31,32,33,34 : reserved

GYROSET G6B,1,1,2,2,0,0
		'servo #6 is controlled by Gyro #1
		'servo #7 is controlled by Gyro #1
		'servo #8 is controlled by Gyro #2
		'servo #9 is controlled by Gyro #2
		'servo #10 is not controlled by a Gyro
		'servo #11 is not controlled by a Gyro

A sensitivity of 0 means the servo value will be unaffected by the Gyro
255 is the maximum sensitivity.

GYROSENSE G6A,100,100,255,255,50,50
		'servo #0 Gyro sensitivity is 100
		'servo #1 Gyro sensitivity is 100
		'servo #2 Gyro sensitivity is 255
		'servo #3 Gyro sensitivity is 255
		'servo #4 Gyro sensitivity is 50
		'servo #5 Gyro sensitivity is 50

Chapter12 - Process commands and others

ON...GOTO
	V =BYTEIN(0)
	ON V GOTO 10,20,30       'lines to GOTO for BYTEIN() values 0,1,2
	IF V>2 THEN GOTO 40

	V =BYTEIN(0)
	ON V GOTO do0,do1,do2    'labels to GOTO for BYTEIN() values 0,1,2
	IF V>2 THEN GOTO dorest
	

RND
	V =RND		'assign a random number to V

REMARK
		
	REMARK this is a comment	
	'so is this and ' is easier to type

Chapter13 - Intention commands

'$DEVICE
	'Select the controller type to download to
	'must be set MRC3024 for RoboNova
	'Changes the IDE settings
	'$DEVICE MRC2000		'select the MRC-2000 controller

'$LIMIT servo_number,minimum_value,Maximum_value
	Unfortunately this does not work for the Robonova 
	with the MR-C3024 controller
	'set the minimum and maximum travel for a servo
	'use where the servo travel is limited by the mechanics
	'$LIMIT 0,50,100	'limit the travel of servo 0 to between 50 and 100
	'default is '$LIMIT x,10,190

Appendix 1 - ACTION command

This means a library of moves could be stored in the program in high-memory and called from the program in low-memory. Various low-memory programs could be written, each with their own set of moves or commands associated with the roboRemocon keys. The low memory programs can be small, so they load fast and can tailor RoboNova to different scenarios.

ACTION number         {p42}

ACTION 3	'perform motion #3
ACTION 8	'perform motion #8

This takes number {1 - 32}
adds 50 to it and puts it into the first variable location,
then jumps to another program loaded higher in memory.
That program can examine its first variable and use the value.
Return to the first program is done by RETURN.

Goto AUTO	'move to the template Program	{p43}

[This sets up a jump over the FILLed bytes so the interpretor can read the start the program.]

this leaves space below the program for another program to be loaded or for data.
byte_value can be any value, {0 - 255}.

FILL 255,10000	'fills 10000 bytes with 255

number_of_bytes_to_fill must be 10000 for ACTION to work.

High-memory program, must be loaded first.

'Multi-Program2         'David Buckley 1Aug08
GOTO AUTO               'needed so the interprtor can find the start of Program2
FILL 255,1000           'Reserve 10000 bytes space before start of this program

DIM Var1 AS BYTE        'first variable, can be any legal name
DIM i AS BYTE           'loop counter

	Var1 =Var1 -50	'subtract the 50 added by ACTION

'loop depending on value from Program1
'if Var1=0 then nothing gets played
'if Var1=1 then "B" gets played
'if Var1=2 then "BB" gets played
'if Var1=3 then "BBB" gets played
'etc
	TEMPO 100		'has no effect in here, neither do H,L
	FOR i=1 TO Var1	
  	  MUSIC "B"	
 	 NEXT

	MUSIC "HGGLAA"	'end of Program2, (H,L have no effect here)

	RETURN			'RETURN TO Program1 

'Multi-Program1		'David Buckley 1Aug08
begin:
	TEMPO 80
	MUSIC "LCDE"    'so we know we are at start of program

	ACTION 2        'pass 2 to Multi-Program2

	TEMPO 200
	MUSIC "EDC"     'so we know we are back from ACTION

	DELAY 1000
	GOTO begin

Appendix 2 - relevant RoboSavvy Posts

Fritzoid
PostPosted: Tue Feb 12, 2008 4:28 pm
Sadly, the HMI servo programmer will not write to the Robonova servos. 

i-Bot
Savvy Roboteer
PostPosted: 30 Jul 2008 16:19
To understand the action command you must really understand how the template works.

The start of the template
GOTO AUTO
FILL 255,10000

compiles to:
0x10 @0x40 = 0
0x15 GOTO [ 0x2728]

then 10000 nops
so the next line
IF RR > 50 AND RR < 83 THEN GOTO action_proc
will sit at location 0x2728 and subsequent code loaded there

If the template is run it operates as expected.

The important thing is that when a new program is stored lower in memory the 
template is not overwritten, so you can still call the template routines from 
a program which does not have the fill instruction.

In this lower program you use the ACTION command
ACTION 5 will compile to:
@0x40 = 55 ' location 40 is the first variable and is RR
GOSUB [ 0x2728]

so the ACTION will call the template routine

Appendix 3 - Remocon Keys and Template Actions

Appendix 4 - Servo Numbering

Version