The 18-channel Mini Maestro and program example,that I reverse engineered, Works fine with 1 sensor and 1 servo.
But I know the program is not optimized.
For the last five days I’ve read a lot of info, On the script language
And on forth programing, so I fill I understand how the stack part goes.
Right now I’m pulling the program apart to see what makes it work, with out all the extra fluff . but would like some help on How to make it work with 4 digital ir sensors and 4 servos the servos, well be on lines 0 1 2 3 and sensors well be on inputs 17 16 15 14, there is 2 sec delay on servos when there at their max positions.
Thanks
Gary
# Set the servo to 4000, 6000, or 8000 depending on an digital input.
begin
17 get_position # get the value of the sensor, 0-255.75
dup 300 less_than
if
4000 # go to 4000 for values 0-299
else
dup 600 less_than
if
6000 # go to 6000 for values 300-599
else
8000 # go to 8000 for values 600-1023
endif
endif
0 servo
2000 delay
drop # remove the original copy of the sensor value
repeat
Hello, RoboCookie.
To help me understand your script, I made made this copy of it with more readable indentation:
# Set the servo to 4000, 6000, or 8000 depending on an digital input.
begin
17 get_position # get the value of the sensor, 0-255.75
dup 300 less_than
if
4000 # go to 4000 for values 0-299
else
dup 600 less_than
if
6000 # go to 6000 for values 300-599
else
8000 # go to 8000 for values 600-1023
endif
endif
0 servo
2000 delay
drop # remove the original copy of the sensor value
repeat
It looks pretty good. You are reading the value of an IR sensor on channel 17, using if/else/endif to compute a servo position from it, writing the servo position to servo 0, delaying for two seconds, and then repeating.
To extend this to handle another servo and sensor, just copy the relevant code and change the channel numbers from 0/17 to 1/16:
begin
17 get_position # get the value of the sensor
dup 300 less_than
if
4000 # go to 4000 for values 0-299
else
dup 600 less_than
if
6000 # go to 6000 for values 300-599
else
8000 # go to 8000 for values 600-1023
endif
endif
0 servo
drop
16 get_position # get the value of the sensor
dup 300 less_than
if
4000 # go to 4000 for values 0-299
else
dup 600 less_than
if
6000 # go to 6000 for values 300-599
else
8000 # go to 8000 for values 600-1023
endif
endif
1 servo
drop
2000 delay
repeat
You could extract some of the duplicated code into subroutines if you want, to make your code shorter. For example:
begin
17 get_position compute_target 0 servo
16 get_position compute_target 1 servo
2000 delay
repeat
sub compute_target
dup 300 less_than
if
drop
4000 # go to 4000 for values 0-299
else
600 less_than
if
6000 # go to 6000 for values 300-599
else
8000 # go to 8000 for values 600-1023
endif
endif
return
I haven’t tested that code above so there might be a few bugs.
I’m not sure why you have that delay or what you want to do with it.
–David
Thanks David
That did the trick, the last bit of code works great.
I needed to see the code in an optimized format to understand
How the subroutines worked in my example. I like the whole ideal
Of Forth programing, I can relate to it because I’m dyslexic so
Numbers before commands are all right by me. The 2 sec delay is
For an object to pass under a gate and then returning the servo
To neutral thus closing the gate.
Thanks
Gary
