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I have a program that reads the joystick values from a PS2 controller. The program work great and I can see all of the values change when the joy sticks are moved. However, as soon as I add an hservo command to the program (even the initialization command for analog servos - hservo [p0\0,p1\0,p2\0,p3\0]) I get corrupted text coming back in the terminal window.
Below are two examples of corrupted values while attempting to read the X Axis value of the right joystick:
¢ight XAxis:@0
RXAxisCëÉÉ+s£Ó
þ0
RiÃK›
«‰É+s£Óght XAxis: 0
Ra þ0
The full program code is listed below:
If I comment out all hservo commands everything looks fine in the terminal window
;[PS2 Controller Constants]
; Set the constants to match how the wires are connected to the ARC-32 board
; For a PS2 controller use AUX2 since these pins all have a built in pull up resistor on the ARC-32 board
; and it is required for a PS2 controller.
DAT con P43 ; Constant - PS2 Controller DAT (Brown)
CMD con P42 ; Constant - PS2 controller CMD (White)
ATT con P41 ; Constant - PS2 Controller SEL (Yellow)
CLK con P40 ; Constant - PS2 Controller CLK (Blue)
PadMode con $79
ENABLEHSERVO
ENABLEHSERVO2 ; This command MUST!!! be present to control servos on the ARC-32
; See P. 14 of servo_controller_robot_80010.pdf
;--------------------------------------------------------------------
;[Ps2 Controller Variables]
DualShock var Byte(18) ; array of 18 Bytes of RAM memory storage
LastButton var Byte(2) ; array of 2 Bytes of RAM memory storage
DS2Mode var Byte ; Dual Shock 2 Mode - 1 Byte of RAM memory storage
;PS2Index var byte ; 1 Byte of RAM memory storage
RXAxisCurrent var Word
RXAxisPrevious var Word
RXAxisCurrent = 0
RXAxisPrevious = 0
;hservo [p0\0,p1\0,p2\0,p3\0]
;--------------------------------------------------------------------
main
gosub ControlInput[dualshock(16),dualshock(17)]
; serout txpin{\fpin},baudmode,{pace,}{timeout,tlabel,}[{modifi ers} OutputData1, ..., {modifi ers} OutputDataN]
; Note: s_out or S_OUT is a reserved word in MBASIC
; NOTE: the 0 in the first serout command is to clear the terminal window screen.
; sdec = Signed decimal
; SDEC{#max} expression{\#min}
; #max: optional maximum number of digits to send
; #min: optional minimum number of digits to send
; The DEC modifi er when used in an output command will convert a stored values to ASCII characters.
; The example will format the value of temp so it prints out the number in a terminal window. The output
;serout s_out,i38400,[0," DPad-Left: ",bin1 dualshock(0).bit7\1," ",dec dualshock(7),13]
;serout s_out,i38400,[" DPad-Down: ",bin1 dualshock(0).bit6\1," ",dec dualshock(9),13]
;serout s_out,i38400,[" DPad-Right: ",bin1 dualshock(0).bit5\1," ",dec dualshock(6),13]
;serout s_out,i38400,[" DPad-Up: ",bin1 dualshock(0).bit4\1," ",dec dualshock(8),13]
serout s_out,i38400,[0," Right XAxis: ",sdec 128-dualshock(2),13]
;serout s_out,i38400,[" Right YAxis: ",sdec 128-dualshock(3),13]
;serout s_out,i38400,[" Left XAxis: ",sdec 128-dualshock(4),13]
;serout s_out,i38400,[" Left YAxis: ",sdec 128-dualshock(5),13]
;serout s_out,i38400,[" Start: ",bin1 dualshock(0).bit3\1,13]
;serout s_out,i38400,[" RAxis(R3): ",bin1 dualshock(0).bit2\1,13]
;serout s_out,i38400,[" LAxis(L3): ",bin1 dualshock(0).bit1\1,13]
;serout s_out,i38400,[" Select: ",bin1 dualshock(0).bit0\1,13]
;serout s_out,i38400,[" Square: ",bin1 dualshock(1).bit7\1," ",dec dualshock(13),13]
;serout s_out,i38400,[" Cross: ",bin1 dualshock(1).bit6\1," ",dec dualshock(12),13]
;serout s_out,i38400,[" Circle: ",bin1 dualshock(1).bit5\1," ",dec dualshock(11),13]
;serout s_out,i38400,[" Triangle: ",bin1 dualshock(1).bit4\1," ",dec dualshock(10),13]
;serout s_out,i38400,[" R1: ",bin1 dualshock(1).bit3\1," ",dec dualshock(15),13]
;serout s_out,i38400,[" L1: ",bin1 dualshock(1).bit2\1," ",dec dualshock(14),13]
;serout s_out,i38400,[" R2: ",bin1 dualshock(1).bit1\1," ",dec dualshock(17),13]
;serout s_out,i38400,[" L2: ",bin1 dualshock(1).bit0\1," ",dec dualshock(16),13]
RXAxisCurrent = 128-dualshock(2),13
serout s_out,i38400,[" RXAxisCurrent: ",sdec RXAxisCurrent]
if RXAxisCurrent <> RXAxisPrevious then
RXAxisPrevious = RXAxisCurrent
if RXAxisCurrent > 100 THEN
serout s_out,i38400,["RXAxisCurrent > 100"]
;Hservo [P3\100]
;Hservo [P2\100]
;hservo [p0\0,p1\0,p2\0,p3\0]
else
;Hservo [P3\0]
;Hservo [P2\0]
;hservo [p0\0,p1\0,p2\0,p3\0]
endif
endif
pause 100
;hservo [P3\0]
goto main
; NOTE ShiftIn and ShiftOut commands:
; shiftin dpin,cpin,mode,[InputData1{\bits}, ..., InputDataN{\bits}]
; shiftout dpin,cpin,mode,[OutputData1{\bits}, ..., OutputDataN{\bits}]
; NOTE: FASTLSBPRE & FASTLSBPOST are the mode number for the shiftout and shiftin commands
; FASTLSBPRE = Mode 5 Faster sampling, lsb fi rst, before clock pulse
; FASTLSBPOST = Mode 7 Faster sampling, lsb fi rst, after clock pulse
ps2_motorww var byte
ps2_motoryy var byte
ControlInput [ps2_motorww,ps2_motoryy]
high CLK
ControlInput_Retry
LastButton(0) = DualShock(1)
LastButton(1) = DualShock(2)
low ATT
shiftout CMD,CLK,FASTLSBPRE,[$1\8]
shiftin DAT,CLK,FASTLSBPOST,[DS2Mode\8]
high ATT
pause 1
if DS2Mode <> PadMode THEN
low ATT
shiftout CMD,CLK,FASTLSBPRE,[$1\8,$43\8,$0\8,$1\8,$0\8] ;enter config mode
high ATT
pause 1
low ATT
shiftout CMD,CLK,FASTLSBPRE,[$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8]
;set and lock analog mode
high ATT
pause 1
low ATT
shiftout CMD,CLK,FASTLSBPRE,[$01\8,$4D\8,$00\8,$00\8,$01\8,$FF\8,$FF\8,$FF\8,$FF\8]
;Enable Vibration motors
high ATT
pause 1
low ATT
shiftout CMD,CLK,FASTLSBPRE,[$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8]
;set 18byte reply
high ATT
pause 1
low ATT
shiftout CMD,CLK,FASTLSBPRE,[$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8]
;exit config mode
high ATT
pause 1
DualShock(1) = 255,255
goto ControlInput_Retry
else
low ATT
shiftout CMD,CLK,FASTLSBPRE,[$1\8,$42\8, $00\8]
shiftin DAT,CLK,FASTLSBPOST,[DualShock(0)\8, DualShock(1)\8]
high ATT
low ATT
shiftout CMD,CLK,FASTLSBPRE,[$1\8,$42\8, $00\8,ps2_motorww\8,ps2_motoryy\8]
shiftin DAT,CLK,FASTLSBPOST,[DualShock(2)\8, DualShock(3)\8, DualShock(4)\8, DualShock(5)\8, |
DualShock(6)\8, DualShock(7)\8, DualShock(8)\8, DualShock(9)\8, |
DualShock(10)\8, DualShock(11)\8, DualShock(12)\8, DualShock(13)\8, |
DualShock(14)\8, DualShock(15)\8, DualShock(16)\8, DualShock(17)\8]
high ATT
endif
return
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