i am coming from a background of PIC mcu and arduino. i have a BBB and a
Raspberry PI. i prefer the BBB because of the amount of gpios. i have
some coding experience using C and the arduino programming language. so i
am used to using that structure.
headers and include files
declare Variables
do you set up of ports, pin modes, and/or peripherals.
main loop
user defined functions
My question is what is the structure of a program when using
javascript/bonescript to program the BBB. I have read and watched videos
of derek molloy that i can just write C or C++ code on the BBB, which
requires me to understand the file system and the exporting of the gpios
and all that. i am not ready to do that just yet. i have also seen that
python is a good option for both the BBB and the raspberry pi, but i want
to try the bonescript/javascript first and try writing some code to control
a robot. right now i am working out some code to check the number of
rotations using disk wheel encoders, so that i can calibrate my motors. i
have included the code i am trying to work out. so far this works to count
the rotations and output the information to the console, but from here i
get stuck.
if i was doing this on a mcu:
1) i would create variable and configure my interrupt on change pins
2) write the isr's to check and do the math, when an interrupt occured
3) configure a timer interrupt to check every 1 second then reset the timer
4) write a "main loop" program to control the motors and make adjustments
to the pwm until all rotation variables are equal in value
or something like that.
with this code i tried to do what i listed above, and like i said i have
some success, but after this how would i make a loop for the motors do i
need to make a loop for the motors? do i just write what i want the motors
to do? is there a structure to follow?
//calling bonescript library
var b = require('bonescript');
//variables used for interrupts and counting
var motor1 = 'P9_15';
var motor2 = 'P9_17';
var motor3 = 'P8_16';
var motor4 = 'P8_18';
var counter1 = 0;
var counter2 = 0;
var counter3 = 0;
var counter4 = 0;
var diskslots = 20;
//Setting all motor pins as inputs
b.pinMode(motor1, b.INPUT);
b.pinMode(motor2, b.INPUT);
b.pinMode(motor3, b.INPUT);
b.pinMode(motor4, b.INPUT);
//Interrupt Service Routines
function ISR_Count1()
{
counter1++;
}
function ISR_Count2()
{
counter2++;
}
function ISR_Count3()
{
counter3++;
}
function ISR_Count4()
{
counter4++;
}
//make motor pins external interrupts
b.attachInterrupt(motor1, true, b.CHANGE, ISR_Count1);
b.attachInterrupt(motor2, true, b.CHANGE, ISR_Count2);
b.attachInterrupt(motor3, true, b.CHANGE, ISR_Count3);
b.attachInterrupt(motor4, true, b.CHANGE, ISR_Count4);
//Function to count the rotaions and output data to console log
function motorOut()
{
b.detachInterrupt(motor1);
var rotation1 = counter1/20;
console.log("Motor 1: ", rotation1);
counter1 = 0;
b.detachInterrupt(motor2);
var rotation2 = counter2/20;
console.log("Motor 2: ", rotation2);
counter2 = 0;
b.detachInterrupt(motor3);
var rotation3 = counter3/20;
console.log("Motor 3: ", rotation3);
counter3 = 0;
b.detachInterrupt(motor4);
var rotation4 = counter4/20;
console.log("Motor 4: ", rotation4);
counter4 = 0;
}
setInterval(motorOut,1000);
sorry for the unorganizedness of this post. its midnight where im at and
sleep may 5 hrs a night for the last eight months.
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