Gyro,motion Runs Twice

PRO

Nomad 6R

Belgium

Asked Jul 2015 — Edited Jul 2015

Resolved by CochranRobotics!

the gyro works great,only jd does the motion twice?

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Steve G

United Kingdom

#1 Jul 2015

@nomad.

Show us the script you're using.

Nomad 6R

PRO

Belgium

#2 Jul 2015

hi steve.

its says run once

DJ Sures

PRO

Synthiam

#3 Jul 2015

Share your project by uploading the ezb file here.

Nomad 6R

PRO

Belgium

#4 Jul 2015

i forgot how to do that.

Dunning-Kruger

Canada

#5 Jul 2015

@nomad.... look in you ez robot folder on your harddrive . Find your ezb project file... attach it to a post and upload it...

Nomad 6R

PRO

Belgium

#6 Jul 2015

i try

Nomad 6R

PRO

Belgium

#7 Jul 2015

jd-origineel.EZB

hope this works

Steve G

United Kingdom

#8 Jul 2015

@nomad.

yeah, the link for your project works fine. I had a quick look through it and can't see what is causing the issue I'm afraid. Hopefully someone else will be able to figure it out for you.

CochranRobotics

USA

#9 Jul 2015

Here is my guess as to what is happening.

I think that the stand up sequence is running and then evaluating the gyro before the robot has a chance to get to a point that the gyro is in a standing position. I would add more time to the sleep command at the bottom. You might take it up to 10000 and see if that is the issue. If so, you could start reducing this down to however long it takes.

You would think that the line waiting for the auto positioner running to be false would prevent this from happening but, give it a shot. If that "Fixes" the issue, we will have a better idea of how to completely fix the issue.

Nomad 6R

PRO

Belgium

#10 Jul 2015

ok i decrease the sleep with 1000 and up to 4000 not working.
also you have the effect that jd will lie down for long time .
before getting up.

CochranRobotics

USA

#11 Jul 2015

Yea, I expected it to delay the standup time, but it answers that the script must be being called 2 times from somewhere. I don't have one of these sensors so I don't have a way to test. I think DJ is going to be your best help unless others have one and a JD that they can test with.

CochranRobotics

USA

#12 Jul 2015

Use this code and then post the output in the little black window under the script back to this thread. Make sure to get all of it which might require that you scroll up a bit.

Code:


ControlCommand("MPU9150", Init)

sleep(100)

:loop
#Added these because $AccelX and $AccelY were not recognized
print("Start of loop")
$XAccel = $AccelX
$YAccel = $AccelY

IF ($AutoPositionStatus = true)

  print("AutoPositioner already running...")  

  sleep(2000)
  
  goto(loop)
  
ENDIF 
  
ControlCommand("MPU9150", RunOnce)

print ("x: " + $XAccel)
print ("y: " + $YAccel)

IF ($YAccel > 8000)

  print("Getting up from front")
  
  ControlCommand("Auto Position", AutoPositionAction, "Getup")
  
  waitfor($AutoPositionStatus = false)
$XAccel = $AccelX
$YAccel = $AccelY


print ("x: " + $XAccel)
print ("y: " + $YAccel)
  

ELSEIF ($YAccel < -8000)

  print("Getting up from rear")
  
  ControlCommand("Auto Position", AutoPositionAction, "stand from sit")
  
  waitfor($AutoPositionStatus = false)
$XAccel = $AccelX
$YAccel = $AccelY

print ("x: " + $XAccel)
print ("y: " + $YAccel)
  
ENDIF 
  
sleep(1000)
$XAccel = $AccelX
$YAccel = $AccelY

print("End of loop...Restarting")
goto(loop)

Nomad 6R

PRO

Belgium

#13 Jul 2015

like this?

#autopositionstatus = ""

ControlCommand("MPU9150", Init)

sleep(100)

:loop

$YACCEL = $ACCELY

$XACCEL = $ACCELX

if($autopositionstatus=true)

print("autopositioner alredy running")

sleep(1000)

goto(loop)

endif

ControlCommand("MPU9150", RunOnce)

print("x8:" + $XACCEL)

print("y8:" + $YACCEL)

if($YACCEL > 8000)

print ("GETTING UP FROM FRONT")

controlcommand("auto position",autopositionaction,"getup")

waitfor($autopositionstatus=false)

elseif($YACCEL <-8000)

print("getting up from rear")

ControlCommand("Auto Position", AutoPositionAction, "stand from sit")

waitfor($autopositionstatus=false)

endif

sleep(1000)

goto(loop)

CochranRobotics

USA

#14 Jul 2015

The text will happen after you run the script. it will look like this

Start of loop
y = (something here)
x = (Something here)
Getting up from rear
end of loop restarting

This will be in the little black box at the bottom of the script window.

Also, get the code I sent a couple of posts ago. It has a couple of more things that might solve or point to the problem.

Nomad 6R

PRO

Belgium

#15 Jul 2015

CochranRobotics

USA

#16 Jul 2015

The issue was with having to specify other variables and not updating these variables in the script. Nomad, please post the working script and have a great day!

Nomad 6R

PRO

Belgium

#17 Jul 2015

ControlCommand("MPU9150", Init)

sleep(100)

:loop
#Added these because $AccelX and $AccelY were not recognized
print("Start of loop")
$XAccel = $AccelX
$YAccel = $AccelY

if ($AutoPositionStatus = true)

print("AutoPositioner already running...")

sleep(2000)

goto(loop)

endif

ControlCommand("MPU9150", RunOnce)
$XAccel = $AccelX
$YAccel = $AccelY
print ("x: " + $XAccel)
print ("y: " + $YAccel)

if ($YAccel > 8000)

print("Getting up from front")

ControlCommand("Auto Position", AutoPositionAction, "Getup")

waitfor($AutoPositionStatus = false)
$XAccel = $AccelX
$YAccel = $AccelY

print ("x: " + $XAccel)
print ("y: " + $YAccel)

ELSEif ($YAccel < -8000)

print("Getting up from rear")

ControlCommand("Auto Position", AutoPositionAction, "stand from sit")

waitfor($AutoPositionStatus = false)
$XAccel = $AccelX
$YAccel = $AccelY

print ("x: " + $XAccel)
print ("y: " + $YAccel)

endif

sleep(500)
$XAccel = $AccelX
$YAccel = $AccelY

print("End of loop...Restarting")
goto(loop)

thank you d.cohran