veltrop wrote:
But if I decide to declare a very long playtime in rcservo_SetAction() (for a motion that requires slow movement) then the sensor data will become outdated before the motion is complete.
I think for truly continuous mixing, the midaction variable of rcservo_PlayAction() could be modified by sensor data.
But if I decide to declare a very long playtime in rcservo_SetAction() (for a motion that requires slow movement) then the sensor data will become outdated before the motion is complete.
I think for truly continuous mixing, the midaction variable of rcservo_PlayAction() could be modified by sensor data.
Modifying rcservo_PlayAction() to support sensor mixing is easy. Add
- Code:
RBAPI(int) rcservo_PlayAction_Mix(unsigned long* mix);
to RCSERVO.H, and add
- Code:
RBAPI(int) rcservo_PlayAction_Mix(unsigned long* mix) {
unsigned long nowtime, t, tt;
unsigned long midaction[32];
int i;
if (RCSERVO_playState != RCSERVO_PLAYING) return RCSERVO_playState;
nowtime = timer_nowtime();
if (nowtime >= RCSERVO_curaction_endtime)
{
for (i=0; i<32; i++)
midaction[i] = ((mix == NULL)? 0L : mix[i]) + RCSERVO_curaction[i];
set_playmode_pulses(midaction);
RCSERVO_playState = RCSERVO_PLAYEND;
}
else
if (nowtime >= RCSERVO_curaction_nexttime)
{
t = nowtime - RCSERVO_curaction_starttime;
tt = RCSERVO_curaction_endtime - RCSERVO_curaction_starttime;
for (i=0; i<32; i++)
{
if ((RCSERVO_validChannels & (1L<<i)) == 0L) continue;
midaction[i] = ((mix == NULL)? 0L : mix[i]) +
interpolate(RCSERVO_lastaction[i], RCSERVO_curaction[i], tt, t);
}
set_playmode_pulses(midaction);
while (RCSERVO_curaction_nexttime <= nowtime)
RCSERVO_curaction_nexttime = RCSERVO_curaction_nexttime + RCSERVO_playInterval;
}
return RCSERVO_playState;
}
to RCSERVO.CPP; recompile the RoBoIO library and then you get a function rcservo_PlayAction_Mix() to support sensor mixing. This function receives an unsigned long array of 32 elements as input and add the array to the output action when updating PWM duty.
Please try it and report whether it is useful. If it is really useful, we will consider to add it into the next version of RoBoIO library.
Statistics: Posted by roboard — Mon Aug 17, 2009 12:56 pm
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