''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''

'''

''' 	READING_ENCODERS.BS2 - Program to read the encoder

'''	

'''	AUTHORS:     Lior Elazary (lelazary@yahoo.com)

'''

'''	LOG:	7/3/01	Created  (Lior Elazary)

'''

'''

''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''



' Wheels Vars

Right_Wheel 		Con	0	' The right wheel pin connection

Left_Wheel		Con	1	' The left wheel pin connection



Right_Encoder		Var	IN2	' The pin the right encoder is attached

Left_Encoder		Var	IN3	' The pin the left encoder is attached



Right_Stop 		Con	650 	' The right stop value determined by simple.bs2

Left_Stop		Con	642



Right_Speed		Var	Word

Left_Speed		Var	Word



Right_Encode_Speed	Var	byte

Left_Encode_Speed	Var	word



Last_Right_Encoder	Var	Bit

Last_Left_Encoder	Var	Bit



Odom			Var	word





X			Var 	byte

T			Var 	byte





Input 2

Input 3



Speed			Con  	30



Move_Forward:

Right_Speed = Right_Stop - Speed									'Set the right and left speed

Left_Speed = Left_Stop   + Speed

Odom = 0												' Reset odometer



Move_Forward_Loop:

   Right_Encode_Speed = 0										'reset encode speed values

   Left_Encode_Speed = 0

   For x = 1 to 46											'loop 46 times to make about 1s

	   pulsout Right_Wheel, Right_Speed							'set the servos speed

	   Pulsout Left_Wheel,  Left_Speed

	   For t = 1 to 10   									' Loop 10 times to make ~21ms of loop	

		   If Last_Right_Encoder = Right_Encoder THEN Cont_Right 			'count changes from 1 to 0 and 0 to 1

			Last_Right_Encoder = Right_Encoder

				Right_Encode_Speed = Right_Encode_Speed + 1

		   Cont_Right:

		   If Last_Left_Encoder = Left_Encoder THEN Cont_Left

			Last_Left_Encoder = Left_Encoder

			Left_Encode_Speed = Left_Encode_Speed + 1

		   Cont_Left:



	   Next

   Next  												' ~1 sec total time for loop  (21ms+1ms) * 46 = 1.012s 

   pulsout Right_Wheel, Right_Speed     							' Set the servos speed again to give about 21ms for calculations

   Pulsout Left_Wheel,  Left_Speed



   Odom = Odom + ((Right_Encode_Speed + Left_Encode_Speed) / 2)				' Set the odometer to the average values of the two speeds

  

   '''

   ''' Speed is at encode_speed/32 RPS

   '''

   debug "ODOM:", dec Odom, " RS:", dec Right_Encode_Speed, " ", dec (Right_Encode_Speed/32), " LS:", dec Left_Encode_Speed, CR	'Display results





    

Goto Move_Forward_Loop



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