BasicMicro - Forums

hi im in trying to build a sensor drivin racing robot using the basic atom 24. im using a parallax ping sensor and a couple ir sensors. also using a tamia double motor and a pololu motor driver. im having some issues with a line of code the studio doesnt like. can you give me some hints? mabey i cant use a string??? ill attach the code and this is the error im getting

Error: FILE F:\DE3\ROBOT 3.BAS(LINE 173) : [TOKEN TASK0] : Unexpected token type

It does not like the line:


This is not a valid syntax for a GOSUB statement. A gosub can only go to one location. Also it does not return a value that can be assigned in this way. You can return values, but the syntax would be:
gosub x[], returnval
Also none of your subroutines appear to return anything. If your intent was to call all 5 of them you could:

If your intent was to call Task0 when Task=0, Task1 when Task=1... You could do it like:


or if this is the last thing you wish for the subroutine, you could use the branch statement

Note in this method, the return in Task0 will not return to after the branch statement but instead to after the call to the function that contained the branch (I hope I am being clear here).

Good Luck
Kurt

thx kurt ill try it all of those ways but right now i am just fleshing out the code for when we get our stuff in. but yes very clear and very helpfull ill let you know how it goes. thx again

ok i have another issue and i dont know why i fixed the sub routine but when i send my serial data it dont like how its written i guess it says it expects a ')' i dont know why and i have wrote this code according to how the syntax manual says as well and still tells me that. if i add the ')' then it says it wants a [ in there also

Need to post your program. Not just single line snippets. Then we can try compiling it and see where the syntax error is.

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Basic Micro - Robotic Technology Evolved

heres the copy of the code the compiler likes it up untill the serial communication under the motordriver

ok as asked to do eariler tonight here is the copy of code we was using(motor), the link to the driver pdf is http://www.pololu.com/file/0J59/smc05a_guide.pdf

and for the ping servo i write it like this
pulsout pingservo, 3000
pause 17
pulsout pingservo, 2500
pause17
pulsout pingservo, 3500
pause17

and then add the code to read what the sensor sends to the controller to that right?

The datasheet says the serial signals must be non-inverted, 1s are high voltage and 0s are low voltage.

So you need to use nBaud modes.(n1200,n9600,n19200).

serout motorpin,n9600,[0x80,0,0,0x3F] ;run the motor at half power

Note the example in the motor controller manual is for a basic stamp so you may need to add pacing to the serout command.

For the ping sonar this is how another user runs it.

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Basic Micro - Robotic Technology Evolved

thanks nathan the ping sensor is now working still having trouble with the motordriver idk if the chip is good or not still trying to figure that out. but the sensor is working fine and im going to work on the servo tonight or tomm. thx again and if i do need to pace the driver command what would be a good value for that?

pacing is in 0.5us increments. So to add a 1ms delay between bytes sent you would put a pace of 2000. Thats a pretty long delay. At 9600bps each bit is 104us so you would be delaying between each byte about the equivilent of 1 bytes width of time(10*104us ~= 1ms). If it doesn't work at that pacing or faster its probably not going to work at longer delays.

At that point I'd think there may be some configuration setting you have to make to get the motor controller to function but I didn't study that part of the datasheet.

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Tech Support
Basic Micro - Robotic Technology Evolved