Expand Your Remcon.

[DirtyRoboto]

[this is not a hardware article]

I take my Takeshi RN1 all over the place to display the current work I am doing. I have now learned an effective way of expanding the remcon functions so that I can display many more moves then the basic template.

I will outline what I am doing...
I use the buttons [E], [F], [G], as way of selecting banks of moves.

[E] I have set up to do the basic moves as loaded onto rom. e.i. using the ACTION command and thus saving space.

[F] Is set for custom acrobatic/dance routines.

[G] Is set for combat, with speed walks, attacks and sonar routines.

I then set the RN to beep the bank number to confirm selection.


I hope this helps you expand your robot demonstrations.


Marcus.

[Humanoido]

Great idea! Wow, we are both doing the same. I quickly filled up the 3 user buttons on the Remocon. Then I read from a posting on the other forum about Code Banking (the technical name for doin what we're doin...).

http://www.lynxmotion.net/viewtopic.php ... 2be7a078d7

Robberto Posted: Fri Oct 27, 2006 8:57 pm, Post subject: 'Code Banking' on Robonova-1: After compiling & downloading the supplied code to RN, I find there's still quite a lot of space left. What I am toying with is using the remote control to switch 'code banks' using the extra keys E, F, or G on the remote. This means that the flow of the program will go to another main loop when E is pressed for example. Then RN will do all of your routines. Pressing F will go back to the template programs. This frees up all the keys on the remote to run your routines. While testing you could just download the small routine to save time, when it is performing well the routine could be added to the enhanced templates to be one large program.

In mine, I keep 3 banks, so far. At first, the remote was changed from 32 functions to add another 52 functions. The main template is considered the home bank. I keep three functions such as power down, get up from front, and get up from back which are used most often for operating and programming, in each bank. Three keys in each bank designate any choice of more "Remocon function banks." (although it could use more than 3 keys to select more than 3 banks) I have enough for a total of over 80 functions access from one controller. Well, that's my 2-cents. The technique is only limited by the MR-C3024 controller memory. However, I don't have nearly enough routines to fill it ...

Humanoido

[Gort]

I finally got blue-tooth to work with my robonova-1! Can you do code banking with blue-tooth?

[Pev]

I finally got blue-tooth to work with my robonova-1! Can you do code banking with blue-tooth?

Can't see any reason why not?????? I think that the source of the input would be fairly irrelevent, it's all about how it's handled , basically using the extra keys to either select a new 'On A' line or jump to a new block of code.... (I'm guessing anyway as that is how I'd do it, may have to give this a try)

Pev

[Gort]

You write it in your code. Like calling a class or subroutine but you put it at the end of your main code. If you press f, gosub this block of code which has a copy of the main program with different routines for the buttons pressed. To get out of block you have an exit button which returns you back to the main program block.

[Pev]

You write it in your code. Like calling a class or subroutine but you put it at the end of your main code. If you press f, gosub this block of code which has a copy of the main program with different routines for the buttons pressed. To get out of block you have an exit button which returns you back to the main program block.

Oh okay I was thinking of having a vaiable say "CMDSET" as a byte then doing something like

If CMDSET=1 then GOTO SET1
If CMDSET=2 then GOTO SET2
If CMDSET=3 then GOTO SET3
goto MAIN

SET1:
ON A GOTO MAIN,K1,K2,K3,K4.........
goto MAIN

SET2:
ON A GOTO MAIN,A1,A2,A3,A4.........
goto MAIN

SET3:
ON A GOTO MAIN,B1,B2,B3,B4........
goto MAIN

and then have 3 key in each routine assigned to the value to CMDSET

Was that what you meant?

Pev

[TheGuru]

Yet another alternative which I thought of using, but have yet to implement was to take two or three keys as a standard input with audio feedback to inform of 'accepted digit'. The reason I first looked at this particularly if using the remocon was to make it digit only e.g. '005' or '999' and giving up to 1000! alternatives. If all key inputs were combined into a single integer (maybe RR) then the 'Main' section would not change (although I can't confirm that a single code line could contain so many ON RR alternatives ). It is also easier to remember move numbers than Left arrow/E etc. The first 32 could represent the standard moves.
I suspect the final implementation will be somewhere between the two as I like the idea of categorising move types -standard/custom/combat/etc

[Gort]

Pev, that is my idea exactly. I think that RETURN may work better than Goto main. The robot basic manual said that you can go 5 deep in gosub calls and us the returns to go back one step at a time. I like the Guru’s idea. I will make a driver block then point to a move type category block of code. Hopefully, I can find time to work on it this weekend. Thanks for the help.

[fleek]

Using only one key (key 18) to switch code banks, default is basic set (bank 1).

Press once - 2 beeps (switch to 2nd set)
Press again - 3 beeps (switch to 3rd set)
can implement as many sets as you want.

http://my-eportal.com/temp/robonova_moves.zip

[visuvius]

You write it in your code. Like calling a class or subroutine but you put it at the end of your main code. If you press f, gosub this block of code which has a copy of the main program with different routines for the buttons pressed. To get out of block you have an exit button which returns you back to the main program block.

Oh okay I was thinking of having a vaiable say "CMDSET" as a byte then doing something like

If CMDSET=1 then GOTO SET1
If CMDSET=2 then GOTO SET2
If CMDSET=3 then GOTO SET3
goto MAIN

SET1:
ON A GOTO MAIN,K1,K2,K3,K4.........
goto MAIN

SET2:
ON A GOTO MAIN,A1,A2,A3,A4.........
goto MAIN

SET3:
ON A GOTO MAIN,B1,B2,B3,B4........
goto MAIN

and then have 3 key in each routine assigned to the value to CMDSET

Was that what you meant?

Pev

Sorry to bring up this old thread but Code Banking is something i really want to try out with my Robonova. This post in particular was very helptul in furthering my understanding of what code banking is but I'm still have some trouble implementing it.

My question is, how in RoboBasic, do I link the 3 Remocon buttons I'd like to use to the CMDSET variable above? I don't even know if that question makes sense.

In other words, how in the program do I assign the "E" button to go to SET1? I understand how each of the buttons would make the program go to a different Main loop but the part about assigning the Remocon button to each of those loops is stumping me.

Thanks in advance for any help.

PS - i'm often in Chat if anyone wants to join me in there!

[DirtyRoboto]

You need a initial routine that looks at the remcon input and sends it to the sub(main routine) like so...

Bank_Select:
Get remcon input
IF remcon input = A then goto routine1
IF remcon input = B then goto routine2
IF remcon input = C then goto routine3
Goto Bank_Select

routine1:
IF remcon = Z then goto Bank_Select
all of your basic moves go here.
Goto routine1

routine2:
IF remcon = Z then goto Bank_Select
all of your fight moves go here.
Goto routine2

routine3:
IF remcon = Z then goto Bank_Select
all of your show moves go here.
Goto routine3

---------------------------------------
Where you see routine1/2/3 you would have a different set of moves and remcon jumps specific to that selection of moves.

[visuvius]

Ok, this is what I just tried and it didn't work but hopefully its a start:

GOTO AUTO
FILL 255,10000

DIM RR AS BYTE
DIM A AS BYTE
DIM A16 AS BYTE
DIM A26 AS BYTE
DIM n AS INTEGER
DIM i AS BYTE

CONST ID = 0 ' 1:0, 2:32, 3:64, 4:96,

'== Action command check (50 - 82)
'IF RR > 50 AND RR < 83 THEN GOTO action_proc

RR = 0

PTP SETON
PTP ALLON

'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0
DIR G6B,1,1,1,1,1,1
DIR G6C,0,0,0,0,0,0
DIR G6D,0,1,1,0,1,0


'== motor start position read ===================
TEMPO 230
MUSIC "CDE"
GETMOTORSET G24,1,1,1,1,1,0,1,1,1,0,0,0,1,1,1,0,0,0,1,1,1,1,1,0
'== motor power on =============================
SPEED 5
MOTOR G24
GOSUB standard_pose
'================================================
MAIN:

A = REMOCON(1)
A = A - ID
IF A = 18 THEN GOTO MAIN1
IF A = 32 THEN GOTO MAIN2
IF A = 23 THEN GOTO MAIN3
GOTO main

This is my version of your "Bank Select". What I'm trying to tell it to do is goto MAIN1 if "E" is pressed, MAIN 2 if "F" is pressed and so on. I assumed that 18, 32, and 23 are the Remocon codes for those buttons but I might be completly wrong about that.

'--------------------------------------------------
Here are my 3 different routines. I'm trying to tell it to go back to MAIN if I press the power button.

MAIN1:
A = REMOCON(1)
A = A - ID
IF A = 16 THEN GOTO MAIN
ON A GOTO MAIN,K1,K2,K3,K4,K5
GOTO MAIN
'==================================================
MAIN2:
A = REMOCON(1)
A = A - ID
IF A = 16 THEN GOTO MAIN
ON A GOTO MAIN,A1,A2,A3,A4,A5
GOTO MAIN
'===================================================
MAIN3:
A = REMOCON(1)
A = A - ID
IF A = 16 THEN GOTO MAIN
ON A GOTO MAIN,B1,B2,B3,B4,B5
GOTO MAIN

At this point I have all my different subroutines (moves).

Of course none of this worked and I'm sure there are some collosal errors I've made.

I just realized its probably a bad idea calling all the different routines MAIN so I will change that to your verbage.

Thanks again.

[visuvius]

Anyone have any ideas on my code and what I might be doing wrong with this whole Code Banking thing?

[Tim]

Hi Vesuvius

At first glance it looks like your code requires you to press a bank key, then immediately press a move key (within <10 Robobasic instruction cycles or 10 - 20 ms at most) - and since that is a tall order, you miss your one chance to hit a move key. And the cycle repeats...Caveat - I only skimmed your code so might have misunderstood some of the more subtle nuances of it (or the nature of the problem entirely!!)

However, if you don't mind having to select the bank before each move, then a small tweak to your code should have you up and running. Just change the destination of the first jump in the on .. goto statement to point to the mainX: label for the bank you are currently in.

MAIN1:
A = REMOCON(1)
A = A - ID
IF A = 16 THEN GOTO MAIN
ON A GOTO MAIN1,K1,K2,K3,K4,K5
GOTO MAIN
'==================================================
MAIN2:
A = REMOCON(1)
A = A - ID
IF A = 16 THEN GOTO MAIN
ON A GOTO MAIN2,A1,A2,A3,A4,A5
GOTO MAIN
'===================================================
MAIN3:
A = REMOCON(1)
A = A - ID
IF A = 16 THEN GOTO MAIN
ON A GOTO MAIN3,B1,B2,B3,B4,B5
GOTO MAIN

Hope that helps . . . .

As it happens, I've just implemented something more like what Pev suggested, incoporating the beeps from The Guru etc. I can post the code if you are really interested. The advantage of that approach is that once you have selected a bank, you stay in it until you select another bank - saves pressing two keys for each move.

Cheers
Tim

[visuvius]

Thanks for the reply Tim!

I'm going to try your fix when I get home but I would totally be interested in your code if you don't mind sharing it.

Thanks again.