Having trouble with Restart Script

Support Servo controllers and servos
1

Hi,
my name is Guenter and my project is to control the Maestro12 by a µC currently an Arduino Uno. I have 3 figures in a RC model which are animated by the maestro. I have stored the script at the maestro iself. However, when driving left the driver figur shall also look to the left. Same when driving right. The Arduino monitors some I/Os and shall send a stop script command to the UART of the maestro and a restart script command when the I/Os are high.
For introduction I tested the examples in the Pololu Arduino library and everything works fine. However, when using my own C file the restart script command doe not work properly. The script hangs in the first command of the script.

Here the script at the maestro:

 ### Sequence subroutines: ###
goto main_loop

# Sequence 0
sub Sequence_0
  1000 6000 6000 6000 6000 6000 6000 
  0 0 0 0 0 0 frame_0..11 # Frame 0
  1500 7224 7244 5169 5984 6895 frame_0..3_5 # Frame 1
  1200 6507 6294 5538 6526 frame_0..2_5 # Frame 2
  1500 6022 6274 frame_0_3 # Frame 3
  1000 6022 5925 6022 frame_1_2_5 # Frame 4
  return

# Sequence 1
sub Sequence_1
  #1000 6000 6000 6000 6000 6000 6000 
  #0 0 0 0 0 0 frame_0..11 # Frame 0
  1500 6022 5925 6022 5984 6895 frame_0..3_5 # Frame 1
  1200 6507 6294 5538 6526 frame_0..2_5 # Frame 2
  1500 6022 6274 frame_0_3 # Frame 3
  1000 6022 5925 6022 frame_1_2_5 # Frame 4
  2000 5169 5053 5945 frame_0_2_3 # Frame 5
  1500 5460 5538 6740 frame_0_2_5 # Frame 6
  1500 5984 6468 frame_0_5 # Frame 7
  1200 5344 6119 frame_0_1 # Frame 8
  1500 5906 5964 5673 6546 frame_1..3_5 # Frame 9
  1000 5984 6061 5324 6526 5984 frame_0..3_5 # Frame 10
  1500 5945 5945 frame_2_3 # Frame 11
  1200 5790 5712 frame_0_5 # Frame 12
  1500 6681 frame_5 # Frame 13
  1500 6410 6449 5518 frame_0..2 # Frame 14
  2000 6022 6216 4665 frame_0..2 # Frame 15
  1200 6507 frame_0 # Frame 16
  1500 5363 5460 6507 frame_0_2_3 # Frame 17
  1500 5945 6158 4917 6546 frame_0..3 # Frame 18
  1500 6003 6003 6236 frame_2_3_5 # Frame 19
  1500 5867 frame_5 # Frame 20
  1500 6139 6468 frame_0_5 # Frame 21
  1500 5053 5189 6565 frame_0_2_5 # Frame 22
  1500 5945 5441 6875 frame_0_2_5 # Frame 23
  1200 6255 5111 7127 frame_0_2_5 # Frame 24
  1800 6139 6177 5402 6623 frame_0..3 # Frame 25
  1500 5635 6546 frame_0_5 # Frame 26
  1500 5906 6022 5984 frame_0_2_3 # Frame 27
  1500 6080 6003 frame_0_5 # Frame 28
  return

sub frame_0..11
  11 servo
  10 servo
  9 servo
  8 servo
  7 servo
  6 servo
  5 servo
  4 servo
  3 servo
  2 servo
  1 servo
  0 servo
  delay
  return

sub frame_0..3_5
  5 servo
  3 servo
  2 servo
  1 servo
  0 servo
  delay
  return

sub frame_0..2_5
  5 servo
  2 servo
  1 servo
  0 servo
  delay
  return

sub frame_0_3
  3 servo
  0 servo
  delay
  return

sub frame_1_2_5
  5 servo
  2 servo
  1 servo
  delay
  return

sub frame_0_2_3
  3 servo
  2 servo
  0 servo
  delay
  return

sub frame_0_2_5
  5 servo
  2 servo
  0 servo
  delay
  return

sub frame_0_5
  5 servo
  0 servo
  delay
  return

sub frame_0_1
  1 servo
  0 servo
  delay
  return

sub frame_1..3_5
  5 servo
  3 servo
  2 servo
  1 servo
  delay
  return

sub frame_2_3
  3 servo
  2 servo
  delay
  return

sub frame_5
  5 servo
  delay
  return

sub frame_0..2
  2 servo
  1 servo
  0 servo
  delay
  return

sub frame_0
  0 servo
  delay
  return

sub frame_0..3
  3 servo
  2 servo
  1 servo
  0 servo
  delay
  return

sub frame_2_3_5
  5 servo
  3 servo
  2 servo
  delay
  return

main_loop:
10 0 speed
sequence_0

sub start
	  begin
    1500 6022 5925 6022 5984 6895 frame_0..3_5 # Frame 1
    1200 6507 6294 5538 6526 frame_0..2_5 # Frame 2
    1500 6022 6274 frame_0_3 # Frame 3
    1000 6022 5925 6022 frame_1_2_5 # Frame 4
    2000 5169 5053 5945 frame_0_2_3 # Frame 5
    1500 5460 5538 6740 frame_0_2_5 # Frame 6
    1500 5984 6468 frame_0_5 # Frame 7
    1200 5344 6119 frame_0_1 # Frame 8
    1500 5906 5964 5673 6546 frame_1..3_5 # Frame 9
    1000 5984 6061 5324 6526 5984 frame_0..3_5 # Frame 10
  repeat

Below is the Arduino C-file:

#include <PololuMaestro.h>

#ifdef SERIAL_PORT_HARDWARE_OPEN
  #define maestroSerial SERIAL_PORT_HARDWARE_OPEN
#else
  #include <SoftwareSerial.h>
  SoftwareSerial maestroSerial(10, 11); // RX, TX
#endif

int LinksPin = 6;
int RechtsPin = 7;
int ledPin = 13;
int OLED = 5;
int Mon =4;
int Links;
int Rechts;
int InfoSys;

//MicroMaestro maestro(maestroSerial);
MiniMaestro maestro(maestroSerial);

void setup(){
    maestroSerial.begin(9600);
    pinMode(LinksPin, INPUT_PULLUP);
    pinMode(RechtsPin, INPUT_PULLUP);
    pinMode(ledPin, OUTPUT);
    pinMode(OLED, OUTPUT); //Pin 5
    pinMode(Mon, INPUT_PULLUP); //Pin 4
}

void loop(){
  Links=digitalRead(LinksPin);
  Rechts=digitalRead(RechtsPin);
  InfoSys=digitalRead(Mon);
  
  if (Links == 0){
      maestro.stopScript();
      uint8_t ScriptStatus = maestro.getScriptStatus();
      if (ScriptStatus==1) {
          delay(50);
          maestro.setSpeed(0,20);
          delay(50);
          maestro.setAcceleration(0,20);
          delay(50);
          maestro.setTarget(0, 8000);
          delay(1000);
      }
      digitalWrite(ledPin,1);
  }
  else if (Rechts == 0) {
      maestro.stopScript();
      uint8_t ScriptStatus = maestro.getScriptStatus();
      if (ScriptStatus==1) {
          delay(50);
          maestro.setSpeed(0,20);
          delay(50);
          maestro.setAcceleration(0,20);
          delay(50);
          maestro.setTarget(0, 4000);
          delay(1000);
      }
      digitalWrite(ledPin,1);
  }
  else if (Links==1 and Rechts==1){
      uint8_t ScriptStatus = maestro.getScriptStatus();
      if (ScriptStatus==1) {
          maestro.restartScript(12);
          delay(50);
      }
      digitalWrite(ledPin,0);
  }  
    
  if (InfoSys==1) {
    digitalWrite(OLED,1);
    delay(50);
  }
  else {
    digitalWrite(OLED,0);
    delay(50);
  }      
 }
2

Hello, Guenter.

With a brief look through your code, I noticed you are using the restartScript() command with an argument of 12, which corresponds to the frame_2_3 subroutine in your Maestro script. That is going to result in an error since it needs values on the stack to run that subroutine. Can you post more information about what you want it to do when you call restartScript()?

Also, can you clarify what is driving the inputs that your Arduino code is relying on? I recommend starting with a much simpler Arduino sketch until you get the communication working how you want; then you can expand it to include all of your other servo motions and input handling.

Brandon

3

Hello Brandon,
you gave me the solution. I used the argument 12 which is the hex value. I changed it to 18, now it works.

Thank you
Guenter

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