Diagnostic C Program for Baby Orangutan

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1

I have checked out the C++ example referenced in other threads, but was hoping to see an example in C.

When learning the specific initializations/ports/etc it is nice to see it all in one declaration in one file.

Does anyone have such a program? I am looking to get the motor control sorted first.

Pololu folks,
Don’t you have a test program that you use to verify that the board with hbridge is functioning before you ship them out? I really want to be sure that board is not defective, specifically the hbridge.

Thanks,
Bronson

2

Hello,

To test the motor driver, you can make one control line high and the other low (per H-bridge) and see if the motor runs.

- Candice

3

Can you take a quick look at this program and let me know what I am doing wrong setting up the pwm?

This is with the mega48, so it is slightly different than the mega8. It is using 20mhz external osc.

The motors run full on/off, but no pwm that I can tell. I think I am missing a pwm register setting.

Thanks,
Bronson

#include <avr/interrupt.h>

#define SetBit(x,y) (x|=(1<<y))
#define ClrBit(x,y) (x&=~(1<<y))
#define ToggleBit(x,y) (x^=(1<<y))
#define Testbit(x,y) (x&(1<<y)) // Returns 0 if clear, Bit value if set.

void init_motor(void);
void sleep(long);
void init(void);
void test_motor(void);
void blink_led(void);

int main(void) {
	init();
		
	test_motor();	
	
	while(1) {
		blink_led();
	}
	return 0;
}

void init() {
	cli();
	PORTB = 0x00;
	DDRB  = 0x00;
	
	PORTD = 0x00;
	DDRD  = 0x00;

	init_motor();
	
	MCUCR = 0x00;
	EICRA = 0x00; //extended ext ints
	EIMSK = 0x00;
	 
	TIMSK0 = 0x00; //timer 0 interrupt sources
	TIMSK1 = 0x00; //timer 1 interrupt sources
	TIMSK2 = 0x00; //timer 2 interrupt sources
	 
	PCMSK0 = 0x00; //pin change mask 0 
	PCMSK1 = 0x00; //pin change mask 1 
	PCMSK2 = 0x00; //pin change mask 2
	PCICR = 0x00; //pin change enable 
	PRR = 0x00; //power controller
	sei(); //re-enable interrupts

}

void init_motor() {
    TCNT1H = 0x00; //setup
    TCNT1L = 0x00;
	TCCR1A = 0x01;
	TCCR1B = 0x0F;
}

void test_motor() {
	//backwards
	TCCR1A = 0xD1;
	OCR1AL = 100;
	SetBit(PORTD,PD5);
	OCR1BL = 100;
	SetBit(PORTD,PD6);
	sleep(3000);
	
	ClrBit(PORTD,PD5);
	ClrBit(PORTD,PD6);
	
	sleep(2000);
	
	TCCR1A = 0xB1;
	OCR1AL = 100;
	SetBit(PORTD,PD5);
	OCR1BL = 100;
	SetBit(PORTD,PD6);
	
	sleep(3000);
	
	ClrBit(PORTD,PD5);
	ClrBit(PORTD,PD6);	
}

void blink_led() {
	SetBit(PORTD,PD1);
	sleep(1000);
	ClrBit(PORTD,PD1);	// LED off
	sleep(1000);
}

void sleep(long msecs) {
	long i;
	for(i=0; i<(msecs*2000);i++);
}
4

Wow, is anyone home on these forums?

The problem is that PB1 and PB2 need to be set as outputs.

DDRB=0x06;

Does anyone from Pololu monitor these newsgroups?

5

Hello,

It’s good to hear that you solved your problem. Someone here (usually me) looks at the forum once in a while. Easy questions get answered more quickly; debugging someone else’s code can take a lot of time. In general, you’re more likely to get a good response if you trim your code to the minimal case that demonstrates the problem.

- Jan

6

My original question had nothing to do with debugging code. A simple, “no, we don’t have any C based test programs” would have been sufficient. Even now I have not received a reply to that question…

I wouldn’t even mind an assembler example.

It is odd that you sell a controller board with basic features, yet you don’t provide a simple program to explain how it is used to help speed the use of the board. The C++ example is cool, but I find it is not the best language to understand the registers, as everything is so indirect.

I think your customers will have more success if you go a little farther and help them start using your orangutan controller boards.

I find the manufacturing quality excellent, the price great, but the support lacking.

Thanks for listening,
Bronson

7

Bronson,

Thanks for your feedback; we know the Orangutan support needs to improve, and we are working on it.

(Given your original post, I feel that my reply was reasonable. “No, we don’t have any C-based test programs” would not have helped at all on what looked like your bigger concern regarding an H-bridge failure. Even if the test program used PWM (it doesn’t, and I didn’t have access to the source code at the time), testing full on power is a good first step.)

When you do finish a project using the Baby Orangutan, it would be great if you could post a link!

- Candice