BasicMicro - Forums

Hello: I need to ensure my motors are stopped properly, however I have not found any hpwm code that I am certain will stop them and keep them stopped.
On startup of the atom sometimes the motors will run for a few seconds. Not often but it has happend enough times to worry me.
The following code lines are various attempts I have used to stop the motors.
After program variables and constants I do the following.
HPWM LEFTWHEEL, LEFTMOTORPERIOD, 0
HPWM RIGHTWHEEL, RIGHTMOTORPERIOD, 0
LOW P10
LOW P9
-------------------------

in my working code I use the above as my stopmotor subroutine.
I than initialize my display, send a few messages, and send another stopmotor command. I then send a message to turn on the ps2 hand controller. I have yet another stopmotor command.
Finally I get to the MAIN body of the program.
Now than, if the controller syncs properly and I am in analog mode everything is fine. The problem is if the controller is not synced, or the controller is not in analog mode, sometimes the motors will start up. I dont know how, or where they are getting the code to start? I only kept adding all the gosub stopmotors all over the place in an attempt to prevent this odd behavior.
I am posting the pertinent code below and apologize if it appears long. I will post the whole program if requested.
-kerry
--------------------------------

'START OF PROGRAM---------------------

gosub stopmotors
LOW DOMEMOTOR
serout 1,i9600,[0,0,0] ' suppposedly initializes the serial lcd chip
pause 100

GOSUB CLEARDISPLAY

serout 1,i9600,[1,1,"PROGRAM START"]
PAUSE 6000

' ps2 setup routines.
GOSUB CLEARDISPLAY
gosub stopmotors
serout 1,i9600,[1,1,"TURN ON "]
serout 1,i9600,[2,1,"HAND CONTROLLER "]
PAUSE 2000
low SEL
shiftout CMD,CLK,FASTLSBPRE,[$1\8,$43\8,$0\8,$1\8,$0\8] ;Config Enable
high SEL

low SEL
shiftout CMD,CLK,FASTLSBPRE,[$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;Set Mode and Fix(Analog
high SEL

pause 100

low SEL
shiftout CMD,CLK,FASTLSBPRE,[$01\8,$4D\8,$00\8,$00\8,$01\8,$ff\8,$ff\8,$ff\8,$ff\8] ;Vibration Enable
high SEL

low SEL
shiftout CMD,CLK,FASTLSBPRE,[$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;Config Exit
high SEL

'end of Ps2 setup


'-----------PS2 Data----------

GOSUB STOPMOTORS

GOSUB CLEARDISPLAY
serout 1,i9600,[1,1,"READY "]
'PAUSE 1000
gosub stopmotors
HPWM LEFTWHEEL, LEFTMOTORPERIOD, 0
HPWM RIGHTWHEEL, RIGHTMOTORPERIOD, 0


MAIN
GOSUB HOLOEYE
'BORED = BORED + 1
'IF BORED >= 250 THEN '500 = 1 MINUTE
'GOSUB RANDOMSOUND
'ENDIF
IF OVERTEMPLEFT = 0 THEN GOSUB OVERTEMP
IF OVERTEMPRIGHT = 0 THEN GOSUB OVERTEMP

high CLK 'Turns CLK High
GOSUB PS2_IN 'Takes the input of the PS2 controller

while(temp(1).bit0 = 0) 'SELECT BUTTON
GOSUB SELECTBUTTON
GOSUB PS2_IN
wend

while(temp(1).bit3 = 0) 'sTART BUTTON
GOSUB STARTBUTTON
GOSUB PS2_IN
wend

while(temp(1).bit4 = 0) 'If up arrow is active then robot goes into forward subroutine
GOSUB forwardFULL
GOSUB PS2_IN
wend
while(temp(1).bit5 = 0) 'If right arrow is active then robot goes into right subroutine
GOSUB RIGHTTURN90
GOSUB PS2_IN
wend

while(temp(1).bit6 = 0) 'If down arrow is active then robot goes into backward subroutine
GOSUB backUP
GOSUB PS2_IN
wend

while(temp(1).bit7 = 0) 'If left arrow is active then robot goes into left subroutine
GOSUB leftTURN90
GOSUB PS2_IN
wend


WHILE(temp(2).bit4 = 0) 'TRIANGLE is active
GOSUB TRIANGLE
GOSUB PS2_IN
WEND

WHILE(temp(2).bit5 = 0) ' O BUTTON
GOSUB OOOO
GOSUB PS2_IN
WEND

WHILE(temp(2).bit6 = 0)
GOSUB XXXX ' X BUTTON ACTIVE
GOSUB PS2_IN
WEND

WHILE(temp(2).bit7 = 0) 'Square is active
GOSUB SQUARE
GOSUB PS2_IN
WEND

WHILE(temp(2).bit3 = 0) 'RIGHT TRIGGER BUTTON ACTIVE
GOSUB STOPMOTORS
GOSUB PS2_IN
WEND

WHILE(temp(2).bit2 = 0)
GOSUB STOPMOTORS
GOSUB PS2_IN
WEND

WHILE(temp(2).bit1 = 0)
GOSUB STOPMOTORS
GOSUB PS2_IN
WEND

WHILE(temp(2).bit0 = 0)
GOSUB STOPMOTORS
GOSUB PS2_IN
wend
'---------NOT SURE WHY THE JOYSTICK CODE IS WRITTEN DIFFERENTLY

' low P9
' low P10
' low p11
' low p12


LEFT_JOY_X=(TEMP(5)) 'LEFT JOYSTICK X
LEFT_JOY_Y=(TEMP(6)) ' LEFT JOYSTICK Y


if left_joy_y <=115 then gosub forward '128 being nuetral, allow a dead zone
if left_joy_y >=140 then gosub backup '128 nuetral allow a dead zone
if left_joy_y >=116 and left_joy_y <=139 then gosub stopmotors

'if left_joy_y <=120 and left_joy_x <=120 then gosub leftturn
'if left_joy_y >=135 and left_joy_y >=135 then gosub rightturn

' if temp(2).bit7 = 0 THEN 'If Square is active then goes into line following mode
' GOSUB start ' Subroutine for line following
' endif

goto MAIN

STOPMOTORS

HPWM LEFTWHEEL, LEFTMOTORPERIOD, 0
HPWM RIGHTWHEEL, RIGHTMOTORPERIOD, 0
LOW P10
LOW P9
' TMRW.BIT0=0

BORED = 0

RETURN