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1. ByteValue Sets the specified Action Port 1 3 to the specified value Both arguments to the statement are byte values literals or constants Specifying a variable will cause a compiler error ByteValue can be either O turn Action Port OFF or 1 Turn Action port ON Example SetAction 1 1 Sets the first action port to on Page 132 AmpWorks Limited 2003 2006 MotorVator 4 r Manual SetEvent SetEvent EventType UserFunctionName Sets your code up to handle a system event EventType Must be one of the system defined event constants while the UserFunctionName must be the name of a user function that takes no arguments and returns no values If the event is already set to another location it will be redirected to the one specified here Example Begin Program Disable Events Good practice to disable SetEvent BatteryVoltageEvent Low uice While changing Enable Events End Program Declare EventHandler Low uice lt lt Code to handle the event gt gt End Function See Also Defer Events Disable Events SetEvent RemoveEvent RaiseEvent Declare EventHandler Enable Events Events Constants SetMotor SetMotor MotorNo Direction Speed SetMotor sets the specified Motor 1 4 to the specified direction F for forward or B for backward and speed Page 133 AmpWorks Limited 2003 2006 MotorVator 4 r Manual 0 100 All three arguments may be literals constants
2. Not ByteValue OR WordValue Returns a True or False based on the contents of the supplied variable For example If the supplied variable is a non zero value the function returns False and visa versa NOTE This is the only system function that can be used with a block structure statement like IF as follows If Not MyByte Then End If Pop ByteVarName OR WordVarName Pop Retrieves a byte or word as appropriate to the supplied variable name from the user stack Pop used in conjunction with Push allows your program to store data temporarily NO error will be generated if you push a series of bytes and pop a word but it may be a difficult bug to track The stack is only used for data and no program addresses such as return addresses are placed there The stack IS used by the compiler to store values before during and after a user defined function call so you should use these commands with great care Page 111 AmpWorks Limited 2003 2006 MotorVator 4 r Manual See Also Push ReadAnalogue ByteVarName ReadAnalogue AnaloguePort Reads the current state of the Analogue port specified by AnaloguePort This should be a literal number or constant with a value between 1 and 6 any other value will generate a compiler error Variable names are not permitted For example MyByte ReadAnalogue 1 returns the value of Analogue port 1 See Also Read oystick ReadBattery Byte
3. Statements to execute if condition was true End If When used with the optional Else statement you get two blocks of statements either one OR the other will be executed depending on the condition Page 147 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Example If Condition Then Statements to execute if condition was true Else Statements to execute if condition was false gt End If If Structures can be nested as many levels deep as you like Example If Condition Then If Condition Then If Condition Then Statements to execute if condition was true Else Statements to execute if condition was false End If Else Statements to execute if condition was false End If Page 148 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Else If Condition Then If Condition Then Statements to execute if condition was true Else Statements to execute if condition was false End If End If End If Indentation is not required but highly recommended as it is otherwise easy to omit a matching end if and the resulting complier error can be difficult to locate If you are planning a complex nested if statement consider the Select Case it may make your code easier to maintain Select Case Used where a variable Byte variable or word variable only needs to be compared to a number of different values and action taken accordingly Once the corresponding bloc
4. MotorVator 4 User Manual meccani Meccanisms Bringing Models to Life TIECCANISITIS Meccanisms Limited markets a range of intelligent control Powerful and Painless Electronics for equipment and accessories aimed at the hobby and educational markets Meccano Modellers Meccanisms Limited P O Box 26 179 Epsom MotorVator 4 Auckland 1003 New Zealand User Manual www meccanisms com info meccanisms com Release 3 00 Dec 2006 For AWOS 2 31 onwards and MeccCompiler III Notes Notes O icc Includes sections on new instructions The copyright for the MotorVator product is owned by EE Ampworks Limited 181 Ridge Road Albany Auckland New Zealand www ampworks co nz Page 2 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccanismi MotorVator 4 User Manual meccanismi The Motorvator4 Table of Contents With the Meccanisms Motorvator 4 you have purchased a powerful and flexible microprocessor controlled device With the capacity to simultaneously process input from fourteen sensors and control MECCANISMS BRINGING MODELS TO LIFE 2 nine devices the MotorVator will form the basis for as many au c intelligent machines as your imagination can produce MotorVator 4 capabilities LI Pulse Width Modulated Control of four DC motors THE MOTORVATOR4 3 LH Split drive voltages to allow you to mix large and small motors m Six Analogue V
5. Page 153 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Begin Program Main Code Body statements here End Program Can Declare global variables here Declare Functions and Event Handlers can go here recommended location Layout rules are as follows If these rules are not observed an error is generated and compile halted 1 Begin amp End Program must exist in all Programs and be present only once 2 Commands cannot exist outside of Begin amp End Program unless they are part of a Function Declaration or Event Handler 3 Declare Statements cannot exist between Begin amp End Program statements but can go either before or afterwards 4 Compiler directives must be placed before the Begin Program statement except the Import Directive which can exist anywhere in the program file 5 Include file directive can go anywhere but what is being included must fit in with the overall structure Page 154 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Appendix A AWOS Instructions The Motorvator uses AWOS instructions which operate at a lower level than your MeccCompiler instructions When you compile a MeccCompiler instruction it may generate between one and three lines of AWOS instructions This section is provided because when you are Debugging your code under the CLI debugger see page 27 these are the instructions that you will see being executed by the MotorVator The bracketed numbe
6. Reads the current state of the OnOff port specified by OnOffPort This should be a literal number or constant with a value between 1 and 4 any other value will generate a compiler error Variable names are not permitted The result will be either a O for Open or 1 for Closed For example MyByte ReadOnOff 1 returns the value of OnOff port 1 See Also ReadTimedState ReadPulseCountDigital ByteVarName ReadPulseCountDigital OnOffPortNo Returns the number of full pulse cycles received on the specified port since last read This is useful for counting low frequency pulses such as those received from counting micro switches The pulses on these ports are sampled approximately 110 times per second so any frequency Page 115 AmpWorks Limited 2003 2006 MotorVator 4 r Manual higher than 60hz is unlikely to be reliably tracked Note also the value returned is a byte variable which will cycle round after reaching 255 See Also ReadPulseCountTimed ReadPulseCountTimed ByteVarName ReadPulseCountDigital TimedPortNo Returns the number of full pulse cycles received on the specified port since last read This is useful for counting low frequency pulses such as those received from counting micro switches The pulses on these ports are sampled approximately 110 times per second so any frequency higher than 60hz is unlikely to be reliably tracked Note also the value returned is a byte variable which will cy
7. SetMotor 2 B slewspeed End if End loop End program Page 71 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Witting and Compiling Your Programs MeccCompiler Ill Meccanisms MeccCompiler is a traditional text based compiler Use your favourite text editor to write your program code You can use MeccCompiler s Source Window if you don t have another editor The Source Document source is the name for your code before it is compiled processed into a MotorVator Readible numeric form should be simple text with no formatting commands Each instruction must start on a new line You may leave blank lines between instructions If you want to put in a comment in plain english start it with a Semicolon Any text from the Semicolon to the end of the line will be ignored by the Compiler Introduction to Mecc Code Programming Introduction This manual is designed to help you become familiar with the programming the Motorvator It is designed to progressively introduce various concepts of programming in a logical sequence that builds on previous steps so if you are new to programming We suggest you work through this in order Experienced programmers will find this useful to skim through possibly loading the complete sample programs provided in the disk as a start for further experimentation We will work with a real program rather than abstract fragments of some larger application as this helps you gain ex
8. Update display every 50 cycles End If Until Counter 1000 Want to do the loop 1000 times And Does a logical bitwise AND between the specified values MyByte A AND B Page 142 AmpWorks Limited 2003 2006 MotorVator 4 r Manual MyWord A AND B MyPointer A AND B A and B can be Variables Literals or constants that resolve to values To understand bitwise AND study the following example Declare Byte OddsOn OAAh In Binary 10101010 Declare Byte NibbleOn OFh in Binary 00001111 Result OddsOn And NibbleOn In Binary 00001010 Therefore if the corresponding bit in one byte AND the other is on then the result is on in the result Or Does a logical bitwise OR between the specified values MyByte A OR B MyWord A OR B MyWord A OR B A and B can be Variables Literals or constants that resolve to values To understand bitwise OR study the following example Declare Byte OddsOn OAAh In Binary 10101010 Declare Byte NibbleOn OFh in Binary 00001111 Page 143 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Result OddsOn Or NibbleOn In Binary 10101111 Therefore if the corresponding bit in one byte OR the other is on then the result is on in the result Code Looping amp Conditional Structures This section outlines the code constructs used to force execution to change its execution point depending on the result of
9. 4 Closed or Open The MotorVator has a number of Standard PreProgrammed Modes that Connect the joysticks and buttons on the Director to the Motors Action Ports and Servo Ports on the MotorVator The following tables show the available modes The button layout on the two models of Director is as follows Director Director Page 43 AmpWorks Limited 2003 2005 MotorVator 4 User Manual JILL EL erresfT18s This page left intentionally blank Page 44 AmpWorks Limited 2003 2005 MotorVator 4 User Manual 77 5L EL eriresfrTie MotorVator 4 User Manual FILLE elrsfrr18S 9ueJ2 deps e uo qeJ6 31eu6e 404329 3 Ue 10J S1J0d UOIPY ou SN sqeJo sye xong oueJ Hulesado 104 POOH passaid SI uO31ng J89u30 By Ilnun uonisod jeu ui es pue pessaJd uong USYM uonisod 0 BAOW SOAJ9S S93ON peseojeu q uoung pessaJg q uopng p se j y 9 uoyng pessaJg 9 uopng peseajey g uoyng pessaJg g uonng peseajey y uoling pessaJg y uong A a Mons or X a xonsKor A Lxons or X HonsAop c SPOW peseajay q uong pesseJg q uonng HO g UO d HO g uo d X X X X cUuonoy puonoy ZOAJOS LOAJOS lIOJON AIOJOW ZAOIOW 40O10IN uonoy sod uoy pue somas uo uoipe dojJ4 di J UJIM s1030UJ y UMOP PJ2H pue pessaJd 21e suong ssejun uonisod 3j81 esivwo ojo3nuy n4 ur Aeys SOAIDS HO UO JO g UO d HO g UO d X uonoy zuonoy p uonoy ZOM9S LOMSS p100 4010JN Z
10. On Off Timed and Analogue on a one second update The values displayed will be the same as you can use within a program hence it s a good way to check out your model For example if you are using a potentiometer to measure the angle of a robot arm move the arm manually either by hand or using the Director controls while noting the readings that come from the Analogue port to which you have connected your potentiometer Note that Phone Tune Set Stepper variables Activate K Stepper Motor Move Stepper motor n 1 digit Stepper 1 or 2 d Direction F or B SSSS steps maximum 2559 e g K1F1234 Load in a MeccCode program in object format Load command expects lines of decimal values separated by commas with the final line ended with a character m 1 2 3 or 4 for the required motor d For R for forward or reverse s 000 to 100 as a percentage of full power e g M1F050 will start Motor 1 in the Forward direction at 5096 duty cycle Load User programi Read Status Motor Mmdsss Use this command to test which direction the MotorVator thinks is forward and Page 29 Page 30 AmpWorks Limited 2003 2005 AmpWorks Limited 2003 2005 MotorVator 4 User Manual I MECCANMNMNSTMTS the Read Status will work even while you re running a Program Press ENTER to cancel out of the status read MotorVator 4 User Manual TIBELBSISTITIS On Off Inputs Layout Diagram
11. in the Debug mode You can then use any of the debug tools Single step multiple step jump change data etc to analyse your program s operation Unless you are in the Debug mode the MotorVator will ignore the Debug statement so it is safe to leave it in your code Page 88 AmpWorks Limited 2003 2006 MotorVator 4 r Manual SetMotor SetMotor is not a new command but you can now use it with Variables for Motor Number Direction and Speed rather than the previous restriction that the Motor Number and Direction had to be fixed constants This makes it much easier to code common motor functions into subroutines without the need for unwieldy Select or If Then Else structures StopMotor We ve also added a StopMotor command that accepts a Motor Number to go with the StopMotors that stops all motors So here s the full range of motor commands Begin Program Declare Byte motorno 1 Declare Byte motordir F Declare Byte motorspeed 60 StopMotor 2 stop Motor 2 StopMotor MotorNo Stop Motor 1 at this stage StopMotors Stop all motors SetMotor 2 B 50 SetMotor motorno motordir motorspeed End Program Page 89 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Receive and Transmit Functions have been implemented that allow you to Send and Receive Data via the Serial port The data is sent and received in Ascii Triplets where three Ascii numerals define one byte value e g 0
12. only be the name of a valid explicitly declared variable of type DataTable A Pointer cannot be used to point to functions or other code However wayward use of WriteData or ReadData could move a pointer past the end of a variable and over other variable declarations or even code Pointers should be used with extreme care Examples Declare DataPointer MyDP variable called myDP declares a data pointer MyDP SetPointer MyTable Example of use of the setPointer command to assign the pointer Declare Function Declare Function Name Arg1 as Type Argn as Type Returns Byte OR Word OR Boolean OR DataPointer Statements that make up the function body Return Value Return Another Value End Function Declares a user defined function that can be called by the main program or any other function within the program Functions must be declared before or after then end of the main program and not within other function event or data table declarations Name represents the name you want to use for this function declaration It cannot be a reserved word eg Page 100 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Declare and must be unique Function names cannot contain spaces Function declarations are by nature strictly global declarations and cannot be nested That is one function declaration cannot contain another function declaration Functions declared that take no ar
13. stored into the 8 bytes pointed to by ReceiveBufferPointer Note that if less than 8 Triplets are sent before the Carriage Return then the rest of the 8 bytes will be set to 00 e g sending 1001002003 CR will give 01 02 03 00 00 00 00 00 in the receive buffer datatable Here is an example program test of send and receive to use Set the program running from the CLI using the G command Page 129 AmpWorks Limited 2003 2006 MotorVator 4 r Manual press the key then press 0 0 3 and CR Enter it will display 07300300000000000000000 every 5 seconds it will display 073084088032021082088032001 or similar set up a transmit buffer that will have text TX followed by count and text RX followed by count e g TXOIRXOI Declare DataTable txbuffer TX Il End DataTable Declare Byte TXCount 0 Declare DataTable txbugRX RX H End DataTable Declare Byte RXCount 0 Declare DataTable rxbuffer Reserve 8 End DataTable Declare Byte RXTemp Declare DataPointer TxBuffPointer Declare DataPointer RxBuffPointer Begin Program SetEvent ReceiveEvent RxEvent SetEvent TransmitEvent TxEvent SetEvent UserTimerlEvent txtimer Enable Events TXBuffPointer SetPointer TxBuffer RXBuffPointer SetPointer RxBuffer Page 130 AmpWorks Limited 2003 2006 MotorVator 4 r Manual SetTimer 1 1 set the timer so it will send the first message Loop do nothing and let the events do
14. 8 user timers available With one event we turn on the display and with the other we turn off the display By having the Turn On Event start the timer for the Turn Off Event and vice versa we get a repeating sequence of on and off but with a different on time and off time Page 83 AmpWorks Limited 2003 2006 MotorVator 4 r Manual example showing how to use the timer events to set up an alternate flashing sequence HR RARE RER ARR ARE each time UserTimer1 goes off turn the display on Declare EventHandler DisplayOn DisplayChars O O then set up Timer2 so it will turn off in 1 2 second SetTimer 2 64 End eventhandler oS S Ree Se ee Se ee eee each time UserTimer2 goes off turn the display off Declare EventHandler DisplayOff DisplayChars and then set up Timer1 so the display will turn on in 2 seconds SetTimer 1 256 End eventhandler RAR RAR ARR RAR R E A HE RE Begin Program Disable Events SetEvent UserTimer1Event DisplayOn SetEvent UserTimer2Event Display Off Enable Events SetTimer 1 1 start off with Timer1 to fire immediately Loop then do nothing else other than let the timers run End Loop End Program Page 84 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Note that using the TimerEvents is preferred to using a Wait statement because nothing else in your code can happen during the wait period By using a TimerEvent other functions ca
15. B C Word Word variable or variable constant Adds Word Bto Word A and puts result in Word C Calibrate J oystick 29 Argument Joystick no Type Byte Value Deadband Deadband X D y Byte Value Byte Value The Calibrate J oystic k instruction sets up J oystick one or J oystick two to provide Adjusted Readings Page 159 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Call 51 Argument A Type Label Call Code Subroutine A i e Start Execution of code at Label A Execution will retum to the next statement after this Call when a RETURN is executed Clear Byte 61 Argument A Byte DRE Variable Set the Value of Byte variable A to be ZERO A 0 Clear Word 66 Argument A vpe Word yP Variable Set the Value of Word Vanable A to be ZERO A 0 Page 160 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Complete Event 75 No Argument arguments Type Compliment Byte 60 Argument A Byte De Variable Compliment swap all the bits over from 1 to 0 and vice versa within the byte Use also forswapping a FLAG vanable from TRUE to FALSE orvice versa Convert Byte 42 Argument A B Byte Word Ype Variable Variable Convert Word 43 Argument A BHi Blo Word Byte Byte Type Vanable Vanable Vanable Use to convert a Word Variable into two Byte variables Page 161 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Decrement Byte 65 Argument A Byte Re Var
16. Byte Type Vanable or constant Get Program Number Which Program Retums the number that was selected on the MotorVator when starting the program Page 167 AmpWorks Limited 2003 2006 MotorVator 4 r Manual If Byte Equal 80 Argument A B C Byte Byte Type Vanable or variable or Label constant constant If A B then GOTO C If Byte Greater Than 83 Argument A B C Byte Byte Type Vanabie vanable or Label constant If A gt B then J ump to C If Byte Greater Than or Equal 85 Argument A B C Byte Type byte variable or Label Variable constant If A 2 B then Jump to C Page 168 AmpWorks Limited 2003 2006 MotorVator 4 r Manual MotorVator 4 r Manual If Byte Hag False 77 If Byte Less Than 82 Argument A B Argument A B C Type e Label Byte Byte Variable Type l variable or Label Vanable nee If not A then J ump to B If A lt B then J ump to C If Byte Hag True 76 Argument A B If Byte Less Than or Equal 90 Type D ie Argument A B C If A then Jump to B Byte E Type vanable or Label Vanable pendant If Word Equal 86 If A lt B then Jump to C Argument A B C Word Word If Byte Not Equal 81 Type Ve Vanable or Label constant Argument A B C If A B then J ump to C Byte ys Type vanable or Label Vanable constant If A lt B then Jump to C Page 169 Page 170 AmpWorks Limited 2003 2006 AmpWorks Limited 2003 2006 MotorVator 4 r Manual MotorVator 4 r Manua
17. Limited 2003 2006 MotorVator 4 r Manual Examples Declare Word MyWord declares a word called myword Declare Word DefaultedWord 0 declares and defaults a Word variable Declare Boolean Declare Boolean NAME Value Declares a Boolean variable Boolean is a special type of Byte variable that can only interpret its value as True or False True and False are system declared constants False is defined as 0 and True is any other byte value Boolean Variables can be used in place of an equation for Until While and If clauses Therefore a function defined as a Boolean can provide a powerful way to make decisions in your code Declare Boolean can appear at the top of the program to declare a global variable one available to all code or within a function declaration to create a local variable only available to code within that specific function Name represents the name of the variable you wish to declare It cannot be a reserved word Eg Declare cannot contain spaces and must be unique within the same scope That is no two globals may have the same name and no two local variables can be identical A local variable can have the same name as a Global and as such will be used in preference to the Global for all code within that function A warning will be issued by the compiler in these circumstances as if unintentional this could be a difficult error to trap Value represents the optional value you wish to assi
18. Ll SsSrrT18 9 5 a D rs O X D D cO 4 sad c Jose 288 8 m Bg 9 29 cc p do A eee SS Dio gt a Ge Qo u O pov c E 2b n UV D V0 gt D Cc t uu c Sita U c o EC NE qm n t in s g Z Q oO O gt vl yd So2x90 C Ru 0 OLY 5 ETC oiu D v OO oolte c o 3 5 D gt STE ou mU o NURSES cdtumu D D Q gt 6 2825 c o D5 Y Sl 2 se gt or Oo n 5 Qe 2 an d Ic 5 Qa nunc cut2o g Q i3 4 o V uu 0 SOC Sm E of wl Yous D Qun o DOA VS oo NM 372 O ET ZSZ c UV Uu Fe oe i lA Y oO oO D NC OX Oc gt cO DE NN OO qos OQ Fl AON gt t LO un z I m v g D 5 g c gt gt e gt mM D a a zo om x Fw EE 9 y So 85 E BE Som S x D D OE D N D j QO QO as AEM Qs 1 O Oo Es g u 2 e oL x we en QD or v 15 EM 205 3 c Big i5 S 2 55 c 15m gt og Q LNU oO o o 9 D on Q E ad 4 t res gt gt AL F c ad u Page 64 AmpWorks Limited 2003 2005 MotorVator 4 User Manual 77 5L LE glrsfrr8 x U D c 5 o c a 55 vetz 2 O ONS ds Se z coL v o c ER a UN TD I 5 SLE S g D Q Q D in 2 ui D c C oO c vy m o See aA ES oO 2 oF o z 5 2 E Soc 9 DC O Ww UO oco 5 2 vw un 3 2 4 OS L TRS 5 m1 0 e p Ju av i O O O a9 cc n F 5 2 vas S z VE 2 a Dc T E o 9m ovc c
19. Page 173 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Logical OR 96 Argument A B Ic pe Variable Es Variable Type orconstant orconstant Rute Vatani Performsa Binary OR function between Byte Variable A and Byte Variable B and putsthe Result into variable C A Binary OR takes two bits with the following results OR O0 1 0 0 1 1 1 1 Use the OR command to Tum ON specific bits from a byte Loop Until ZERO 50 Argument A Bo Word See also J ump If Byte If Word Decrements Word Variable A by 1 then checksto see if itis now Zero If itis Not Zero then jump to Label B Page 174 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Move Byte 11 Move Byte Argument A Byt Type Fiabe or Constant me Variable Movesthe value stored atA into the Byte Variable B B A Move Word 12 Argument A Word Type vanable or NE Constant Movesthe value stored atA into the Word Variable B B A Multiply Byte 58 Argument A B Ic Variable or Variable or Word Type Constant Constant Variable C Byte A Byte B Multiply Unsigned Byte Value A by Byte value Band place result into Word Vanable C Note that the value will always be positive and that the product of two bytes 0 255 requires a full word 0 65535 Page 175 AmpWorks Limited 2003 2006 MotorVator 4 r Manual NOP 0 No Arguments A No OPeration Instruction Use if you want to remove another ins
20. Word Declare Word Name Value Declares a word variable Can be used at the top of the program to declare a global variable one available to all code or within a function declaration to create a local variable only available to code within that specific function Name represents the name of the variable you wish to declare It cannot be a reserved word Eg Declare cannot contain spaces and must be unique within the same scope That is no two globals may have the same name and no two local variables can be identical A local variable CAN have the same name as a Global and as such will be used in preference to the Global for all code within that function A warning will be issued by the compiler in these circumstances as if unintentional this could be a difficult error to trap Value represents the optional value you wish to assign to the variable every time this program is run or this procedure is entered It can be either a literal Number O 65355 two string characters AB or the Name of an acceptable constant Other variable names or equations are not allowed If Value is omitted variable is not explicitly set when program runs This generates a warning at compile time Not setting a default can be useful if the variable is a global and it is desirable to retain the value from one run to the next Locals are created dynamically as required and their value cannot be guaranteed at all Page 95 AmpWorks
21. a Constant for the Direction However it does allow you to supply a Variable for the speed which is good because you might want to use the results of a calculation as the speed Some instructions only read the values that you give them i e the SET MOTOR command and wont change them Some instructions however are meant to change the values For example the C A B instruction takes the value of Byte A adds the value of Byte B and stuffs it into the location of Byte C Now you can specify either Constants or Variables for A and B but C HAS TO BE A VARIABLE Page 62 AmpWorks Limited 2003 2005 MotorVator 4 User Manual FILLE al NS ITIS Declanng Vanables In the Declare instruction you can give an initial value that will be loaded into each variable when your compile program is downloaded to the MotorVator Use this to define constants against which you can compare in If Byte and If Word statements Note that there is nothing to stop you storing another value into the variable either intentionally or accidentally once your program is running The initial value is optional but is only assigned the first time you download your code to the MotorVator So if your program happens to write over then it won t be able to be relied upon in future executions Make sure not to store data into your constants and overwrite values that you are relying on Page 63 AmpWorks Limited 2003 2005 MotorVator 4 User Manual SPILL
22. a specified condition The change in execution can be to selectively process a group of instructions See IF and Select Case Structures or to loop around to run a set of instructions many times See Do While Loop Structures Condition syntax The acceptable conditions for all conditional structure statements are as follows MyVala MyValb OR MyVala gt MyValb OR MyVala lt MyValb OR MyVala MyValb OR MyVala gt MyValb OR MyVala lt gt MyValb OR Not MyVala 2 TRUE OR FALSE OR MyFunction Args TRUE OR FALSE Page 144 AmpWorks Limited 2003 2006 MotorVator 4 r Manual MyVala must be a variable and MyValb can be a Variable Literal or Constant of type Byte Boolean Word or DataPointer but they must have the same type That is you cannot match a word to a byte variable If you are matching a variable to a literal or you must place the variable on the left For example If MyVar gt 6 then If MyLoopCounter MAX TRIES then MAX TRIES has been declared as constant The system function Not is the only system function that can be used as a condition You can use a function you create yourself as a condition provided it returns a type of Boolean Any other type return will generate an error at prime time Note also the True or False is entirely optional but may make your code more readable Example If LimitSwi
23. d 3 aA D Gd shea a Q H fz na e r4 0 U r ge OHN A M H 2 m M X 4 4 Q gu wags amp Cz gt Qu am o op moziudu 2 i DOW O Q e H A Ari GD Qh O Ow c mua O H x HOAMOHHA a E SH oom E d B4 H NMVHRZAs A H O ad H A gt pd Om I a OO D H O aos ff m E d m 2i Ges fu M D BH Fu e m mM AA E l D p Gee F1 x Hoes El 4 A E3 Qmm FA A EH 1 gt a Q gt gt gt gt O op H KE t H Q OHddOooo A O O Hi O Z H KG Fr Fu KG D Z 2008 4224 KG a a a a H a e H 5 Ei o 4 E Oo O 4 4 Oo A O oe su Ru G A A oO Qo Oo ag TD died amp m H d hk C A St HN M SP xul WO TA LO wH lt P pe wa a SP ps D O rr Al b N N oa oa wa lt P SP LO LO WO WO WO y O O O oO c c am Cy O c C2 Ca C co c oOo OOO ce ce O oO O ce e C ce e O Sm ce 7S c S Sese T i 7S T TS ET TS DS D S ou tom OA H LO L fy st OY C fy N oO A Oo mM CO O GO wH a a CN CN CN CN M om m wv ST D CY C9 ce O O oO O e e O e e e c C2 C O QOG GOG O O O O O O oO e ce e e e O Page 81 AmpWorks Limited 2003 2006 MotorVator 4 r Manual This shows the AWOS Instructions that the MotorVator will execute and all the program space addresses at which the code and data reside Now we don t expect you to want or be able to decipher every line in this object listing It is however useful to be able work out the storage location for variables so that you can check
24. instruction is executed or run it will instruct the MotorVator to do something or check something The main types of instructions are Hardware Active Instructions These Include instructions to control the Motor Outputs Servo and Action ports update the displays and produce sounds from the speaker Hardware Input Instructions These include instructions to read the current state of all of the input ports On Off Timed and Analogue Program How Instructions These instructions allow you to execute different parts of your program depending on the status of various inputs These include a number of IF instructions LOOP and WAIT Data Instructions These allow you to change the value of data variables within your program so you can store data to be used later These include instructions to Move Add Subtract Multiply Read and Write Event Instructions These are associated with establishing events See Events Programming on page 69 Page 60 AmpWorks Limited 2003 2005 MotorVator 4 User Manual PILL EL glTdsrris Bytes and Words Within the MotorVator values are stored for use in instructions The MotorVator has only two different sized buckets into which values can be stored These buckets are called Bytes and Words A Byte contains 8 single bits each of which can be 1 or 0 Joined together a Byte can contain from 00000000 to 11111111 or in decimal from O0 to 255 Because the Bitwise representat
25. minimum wait between steps Set to the smallest number that allows your stepper to move reliably without missing steps xxx 3 digit maximum wait between steps Sets the initial step wait when ramping up to full speed hh 2 digit hold percentage current applied when the stepper is not moving to hold its position Typically use 1096 e g J101005010 MotorVator 4 User Manual TIELCCOSNSITIS backwards and to test maximum and minimum speed gearing If the motor turns the wrong way you can simply swap the wires on the connector at the MOTOR socket Play an RTTTL Format tune RTTTL is RingToneTransportableLanguage and has the following syntax P duration2 Note sharp lt octav e2 L Duration is 1 2 4 8 16 for full half qtr eight and sixteenth beats Note is A to G P for No Sound Pause Sharp is and optional means add half the duration again to the note Optional Octave is 5 or 6 and is optional Examples 1c 1d le will play equal three notes in rising succession The fanfare when MotorVator starts up is 16c 16e 169 c6 169 2c6 Extension for MotorVator if the last character is a then the tune will repeat continuously until another tune is loaded or a Tone is played You should be able to download a variety of tunes from the internet by searching for RTTTL Note that the MotorVator does not want spaces between the notes This will give a repeat reading of the input ports
26. numerals define one byte value e g 048 represents Hex Byte 030H 0 Each transmission is prefixed with 073 representing Ascii I so that the CLI can ignore it This use of the Ascii Triplets is to avoid issues with sending non printable control characters over the serial interface which has to be shared with the CLI To send data from a MotorVator use the TRANSMIT command Transmit TransmitBufferPointer Where TransmitBufferPointer is a DataPointer to a Datatable of minimum 8 bytes in size E g Declare Datatable TxBuffer TX123456 End DataTable Declare DataPointer TXBuffPointer Page 128 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Begin Program TXBuffPointer SetPointer TxBuffer Transmit TxBuffPointer This would result in the following being sent out the serial point 073084088048049050051052053 lt CR gt To send data to a MotorVator the sender needs to prefix the data string with I and then send up to 8 triplets followed by a single Carriage Return CR code 13 Once the CR is received the MotorVator will raise the ReceiveEvent Users need to provide an EventHandler for this event Once the ReceiveEvent is raised the user can read in the received data using the RECEIVE command Receive ReceiveBufferPointer Where ReceiveBufferPointer is a DataPointer to a Datatable of minimum 8 bytes The Ascii Triplets are converted back into Byte values and
27. of what your program is doing You can Single Step the program on the MotorVator which means you can have the MotorVator execute one instruction then stop till you tell it to execute the next instruction To do this after downloading your program stay in the MotorVator Communications window and enter D at the Command Prompt This will start your program running from the first instruction and display that instruction Pressing ENTER will cause one more instruction to be executed At any time you can double click on the addresses shown in the debug window to get MeccCompiler to show you which instruction you are looking at Page 82 AmpWorks Limited 2003 2006 MotorVator 4 r Manual MeccCode Ill Reference New Instructions in Mecc Code Release III December 2006 Timer Events The MotorVator now supports User Timer Events The internal Clock of the MeccCode within the MotorVator runs at 128 Hertz so one ClockTick 1 128 of a second Using the UserTimerEvents you can set up for a routine to run in X ClockTicks When the number of ClockTicks is up your routine will run immediately once regardless of what else is running There are two new related commands SetEvent now includes UserTimerlEvent through UserTimer8Event SetTimer Timer ClockTicks sets the Timer to trigger after X ClockTicks In the following example we use two Events linked to two of the new UserTimers there are
28. the following precautions when constructing a controlled machine LJ Always test your machine thoroughly Before powering the machine with motors under MotorVator control test each movement manually C1 If possible run initial tests using low capacity batteries or a current limited power supply Any faults or shorts in wiring will show up without causing major damage or danger LJ Test the operation of motors at a slow speed initially then increase to normal operating speed C1 Provide safety switches end detection sensors clutches etc to ensure that any movement outside of the expected is detected and controlled C1 Provide an emergency stop facility that is clearly labelled and located in an obvious and non obstructed position Assume that this could be pressed at any time by any observer so ensure that shutdown is graceful and safe For example if your model crane is carry a heavy load make sure that an Emergency stop does not simply drop the load rayo LT AmpWorks Limited 2003 2005 MotorVator 4 User Manual ITIBELCCANNISITIS MotorVator Layout Diagram Page 15 AmpWorks Limited 2003 2005 MotorVator 4 User Manual ITIBLCCANNISITIS Basic Operation MotorVator 4 Getting Started Running Preprogrammed Modes The MotorVator comes with a number of preprogrammed Modes that will allow you to control many different types of models without any need for programming We will discuss these first then
29. the receiving and sending End Loop End Program Declare EventHandler txtimer transmit the buffer TXBuffPointer SetPointer TxBuffer Transmit TxBuffPointer send the transmit SetTimer 1 610 and set up to send again in 5 seconds 5 x 122 ticks End EventHandler Declare EventHandler rxevent each time we get a Receive event increment the RX Counter that will go out in the Transmit Increment RXCount Beep 50 1 and read in the incoming data RXBuffPointer SetPointer rxbuffer Receive RXBuffPointer display the first byte on the MV display RXBuffPointer SetPointer rxbuffer RXTemp ReadData RXBuffPointer DisplayHex RXTemp and send the whole buffer out to display txbuffpointer SetPointer RXBUFFER Transmit TxBuffPointer End EventHandler Declare EventHandler TXEvent each time we finish sending something increment the counter Page 131 AmpWorks Limited 2003 2006 MotorVator 4 r Manual just to show how the Transmit event works Increment TXCount End EventHandler Note that you must not try and transmit if there is already a transmission in progress This is why the TransmitEvent is provided to indicate when the last transmission has completed RemoveEvent RemoveEvent EventType Ceases monitoring of the specified event type See Also Defer Events Disable Events SetEvent RaiseEvent Declare EventHandler Enable Events Events Constants SetAction SetAction PortNo
30. 0 degrees Type Constant E or B Variable Set also Set Servo This command is included to allow you to take a reading from READ J OYSTICK and use the reading which will be in the range 0 to 100 to set a Servo across its range physically 90 degrees forward or backwards Page 186 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Sleep 4 Puts the MotorVator into a low power mode until an event happens Only use this if you your program at this point of its execution relies solely on Events to proceed Otherwise your program will sleep here forever While in Sleep mode the Off Key still operates Stop Motors 20 No Arguments Stops all Motors regardless of their cument state Does not affect Servos or Action Port settings Subtract Byte 55 Argument A B C Variable or Variable or Variable Type Constant Constant Byte Byte Byte C A B Subtractsthe Value of B from the Value of A and stores result in C Page 187 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Subtract Word 63 Argument A B C Vanable or Vanable or Variable Type Constant Constant Word Word Word C A B Subtracts the Value of Word B from the Value of Word A and stores result in Word C Transmit 13 Transmits a packet of eight bytes of data out of the Communications Port Use in conjunction with the Receive Instruction to have the MotorVator communicate with a PC or other MotorVators Transmit can be used to se
31. 3 4 17 These four inputs are the easiest way to get information into the MotorVator Servo Ssdaa s 1 or 2 for the required servo and your programs Each of these d direction B or F inputs measures either an On aa angle 00 to 90 degrees Closed or Off Open state The e g simplest way to use them is to S1B45 will turn Servo 1 Back connect the two pins on the connector anticlockwise 45 degrees from center together with a switch This switch can be microswitch a button switch or similar E g Use this switch for simple bumpers in a basic robot TECHNICAL NOTE These input ports measure a TTL logic level signal You can therefore connect more sophisticated TTL logic level circuits to the Signal Line These inputs will show an Off if the Signal pin is High 5V or an ON if the input pin is Low OV Because these input ports have an internal pull up resistor you Tone Ttttdd Play a single Tone ttt is a numeric value related to pitch larger numbers give lower tones and dd is the duration in 1 10 of a second e g T10010 will play a 1 second tone Stop all Motors Z Stops all motors and resets Servos to etc centre position Page 31 AmpWorks Limited 2003 2005 DE oO Note the polarity which way round the plug goes when connecting to other equipment If you re connecting a microswitch the polarity doesn t matter In the MeccCode Software the variable READONOFF x instruction is
32. 48 represents Hex Byte 030H 0 Each transmission is prefixed with 073 representing Ascii I so that the CLI can ignore it This use of the Ascii Triplets is to avoid issues with sending non printable control characters over the serial interface which has to be shared with the CLI To send data from a MotorVator use the TRANSMIT command Transmit TransmitBufferPointer Where TransmitBufferPointer is a DataPointer to a Datatable of minimum 8 bytes in size E g Declare Datatable TxBuffer TX123456 End DataTable Declare DataPointer TXBuffPointer Begin Program TXBuffPointer SetPointer TxBuffer Transmit TxBuffPointer This would result in the following being sent out the serial point 073084088048049050051052053 lt CR gt Page 90 AmpWorks Limited 2003 2006 MotorVator 4 r Manual To send data to a MotorVator the sender needs to prefix the data string with I and then send up to 8 triplets followed by a single Carriage Return CR code 13 Once the CR is received the MotorVator will raise the ReceiveEvent Users need to provide an EventHandler for this event Once the ReceiveEvent is raised the user can read in the received data using the RECEIVE command Receive ReceiveBufferPointer Where ReceiveBufferPointer is a DataPointer to a Datatable of minimum 8 bytes The Ascii Triplets are converted back into Byte values and stored into the 8 bytes pointed to by ReceiveBufferPoi
33. 6 MotorVator 4 r Manual transmit the buffer TXBuffPointer SetPointer TxBuffer Transmit TxBuffPointer send the transmit SetTimer 1 640 and set up to send again in 5 seconds 5 x 128 ticks End EventHandler Declare EventHandler rxevent each time we get a Receive event increment the RX Counter that will go out in the Transmit Increment RXCount Beep 50 1 and read in the incoming data RXBuffPointer SetPointer rxbuffer Receive RXBuffPointer display the first byte on the MV display RXBuffPointer SetPointer rxbuffer RXTemp ReadData RXBuffPointer DisplayHex RXTemp and send the whole buffer out to display txbuffpointer SetPointer RXBUFFER Transmit TxBuffPointer End EventHandler Declare EventHandler TXEvent each time we finish sending something increment the counter just to show how the Transmit event works Increment TXCount End EventHandler Note that you must not try to transmit if there is already a transmission in progress This is why the TransmitEvent is provided to indicate when the last transmission has completed Page 93 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Declare See Also Variable and Function Names When to Declare Number Formats Declare Byte Declare Byte Name Value Declares a byte variable Can be used at the top of the program to declare a global variable one available to all code or within a function declaration to c
34. 68 169 169 169 170 170 170 171 171 171 172 172 172 173 173 173 174 174 175 175 175 176 176 176 177 177 READ ANALOG INPUT 32 READ BUTTON 35 READ DATA BYTE 16 READ DATA WORD 18 READ DIGITAL INPUT 31 READ JOYSTICK ONE 27 READ JOYSTICK Two 28 READ PULSE COUNT DIGITAL 36 READ PULSE COUNT TIMED 37 READ TIMED INPUT 33 RECEIVE 14 REMOVE EVENT WATCH 73 RESET 8 RETURN 52 SET ACTION PORT 30 SET DATA POINTER 15 SET EVENT WATCH 72 SET LEFT LED 44 SET FLAG FALSE 77 SET FLAG TRUE 76 SET MOTOR 21 SET RIGHT LED 45 SET SERVO SET SERVO PERCENT SLEEP 4 STOP MOTORS 20 SUBTRACT BYTE 55 SUBTRACT WORD 63 TRANSMIT 13 WAIT FOR TIME 70 WRITE DATA BYTE 17 WRITEDATAWORD 19 Page 12 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccanismi 177 178 178 179 179 180 180 180 180 181 181 181 181 182 182 182 183 184 184 184 185 186 186 186 187 187 187 188 188 189 189 189 MotorVator 4 User Manual ITIBELCANNSITIS Safety Information Before operating the MotorVator please read the complete manual thoroughly Do not attempt to disassemble the unit other than expressly described in this manual There are no user serviceable items within the case Stop operating the unit immediately should it emit smoke or fumes Disconnect the unit from any external power supply Disconnect the battery Contact your service ag
35. AOIOW L100 Sod uonoy pue somas uo uomoe Aye USWOW ui SJ0 OUJ pesee aH 5 uong pesseJg 9 uopng pesee eH g uonng pessaJg g uong pesee eH y uonng pessaJg y uong a MonsKor X a xons or A Lxons or X LxonsAor T SPOW Page 46 AmpWorks Limited 2003 2005 Page 45 AmpWorks Limited 2003 2005 MotorVator 4 User Manual SPILL Lg sSrT8 MotorVator 4 User Manual PILL EL glirsfrT18S OAJ8 S SUC pue JOIOW euo seu xons of u ee ey os payeuedas aie soAJes pue SJOJOW eu ING pow se euies y SI SIU SION JO uO p se j y q uong pessaJd q uoyng p se j y 5 uong pessaJd 9 uoyng p se j y g uong pessaild g uong HO p se j y y uonng d pessaJg y uong X Az Xons or ons o jeuon4odoJd SERES T X A LXons Aor JeuonaodoJdg X yonSsAor ZUON9Y LUON9Y ZOM9S ONES 1010 4JOI OJN ZlIOIOW JOJO uonov sod uoy uo dojj di J soAJ8s OM 0 sonsKof Z sioJoW Z t SPOW lepouu 6uiS91S ovS T pue BUIAIIP 4030IN T 9 duuis e 104 BPOW siu esf sonas Z 19470 BY sJ03oui Z s oJ1uo2 Y213SA0 f BUC S JON HO p se j y q uolng pessaid q uonng uO HO uo JeuonaodoJudg JeuonaodoJdg uon y zuonoy puonoy ZOAJ9S OAIAS lIOJON IOJON ZJO1OJN L100 s od uoy uo dojj dij4 soAJ8s OM 0 syons of Z s1o3ouu Z p se j y 5 uoyng pessaJd 5 uoyng p se j y g uoyng pessaJd g uoyng p se j y y uoyng pessaJ
36. CTIONS DATA INSTRUCTIONS EVENT INSTRUCTIONS BYTES AND WORDS VARIABLES AND CONSTANTS DECLARING VARIABLES ADDRESSES AND POINTERS PROGRAM FLOW EVENTS PROGRAMMING THE MAIN Loop METHOD THE EVENT METHOD WRITING AND COMPILING YOUR PROGRAMS MECCCOMPILER III INTRODUCTION TO MECCCODE PROGRAMMING DEBUGGING YOUR PROGRAM MECCCODE III REFERENCE MotorVator 4 User Manual meccani 57 59 60 83 NEW INSTRUCTIONS IN MECCCODE RELEASE HI DECEMBER 2006 TIMER EVENTS GETCLOCK WAIT STEPPER MOTOR ROUTINES DEBUG SETMOTOR Page 6 AmpWorks Limited 2003 2005 83 83 85 87 88 89 MotorVator 4 User Manual ITIBELCCANNISITIS STOPMOTOR RECEIVE AND TRANSMIT DECLARE DECLARE BYTE DECLARE WORD DECLARE BOOLEAN DECLARE CONSTANT DECLARE DATATABLE DECLARE DATAPOINTER DECLARE FUNCTION DECLARE EVENTHANDLER VARIABLE AND FUNCTION NAMES WHEN TO DECLARE NUMBER FORMATS SYSTEM FUNCTIONS COMPLIMENT GETCLOCK GETPROGRAMNUMBER HIGHBYTE LOWBYTE MAKEWORD NOT POP READANALOGUE READBATTERY READBUTTON READDATA READ OYSTI CK READJ OYSTI CKDIR READONOFF READPULSECOUNTDI GI TAL READPULSECOUNTTI MED Page 7 AmpWorks Limited 2003 2005 89 90 94 94 95 96 97 98 99 100 104 106 107 107 108 108 108 109 109 110 110 111 111 112 112 112 113 114 114 115 115 116 READTI MEDPULSEWIDTH READTIMEDSTATE RECEIVE RANDOMIZE SETPOINTER UNTIL WHILE STATEMENTS BEEP B
37. EGIN PROGRAM CALIBRATE J OYSTICK CALL CONFIGSTEPPER DECREMENT DEFER EVENTS DISABLE EVENTS DISPLAYCHARS DISPLAYHEX DISPLAYNUMBER EMERGENCYSTOP ENABLE EVENTS END PROGRAM ESCAPE PROGRAM INCLUDE FILE NCREMENT POWEROFF PUSH RAISEEVENT RECEIVE TRANSMIT REMOVEEVENT SETACTION SETEVENT Page 8 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccani 116 117 117 118 118 118 118 119 119 119 120 121 121 122 122 123 123 123 124 124 124 125 125 125 126 127 127 128 128 132 132 133 MotorVator 4 User Manual meccanismi SETMOTOR SETSERVO SETSERVO SETSTEPPER STOPMOTOR STOPMOTORS STOPTUNE TRANSMIT WRITEDATA PLAYTUNE RETURN WAIT MATH HANDLING ADDITION ASSIGNMENT DIVISION SUBTRACTION MULTIPLICATION MOD AND OR CODE LOOPING amp CONDITIONAL STRUCTURES CONDITION SYNTAX Do UNTIL Loop END Loop WHILE END WHILE IF THEN ELSE END IF SELECT CASE PREDEFINED SYSTEM CONSTANTS TRUE FALSE FORWARD BACKWARD Page 9 AmpWorks Limited 2003 2005 133 134 135 135 136 136 136 136 137 138 139 140 140 140 140 141 141 141 142 143 144 144 146 146 147 147 149 150 150 151 151 151 UPBUTTON DOWNBUTTON EVENTS CONSTANTS COMPILER OPTION SWITCHES OPTION FORCE GLOBALS PROGRAM LAYOUT APPENDIX A AWOS INSTRUCTIONS ARGUMENT TYPES HARDWARE ACTIVE INSTRUCTIONS HARDWARE INPUT INSTRUCTIONS PROGRAM FLOW INSTRUCTIONS DATA INSTRUCTIO
38. FLAG variable to FALSE Zero Can then be used in an If Flag False or If Flag Truce test Set Hag True 76 Argument Flag Constant or Type Variable Byte Set the value of the FLAG variable to True Can then be used in an If Flag False or If Flag Truce test Page 184 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Set Motor 21 Motor Argument Numb r Direction Speed Type Constant Constant QE Vanable Set the speed and direction of the Motor PortsA through D Motor Port A isMotor Number 1 Motor Port B is Motor Number 2 Motor Port C isMotor Number 3 Motor Port D isMotor Number 4 Each motor can be set for either Forward F or Back B Note however that the Concept of Forward and Back is arbitrary and will relate to your model gearing etc If the Forward command makes your model go backwards simply swap the two leads on the Motor Output Port Motor Speed is 0 to 100 of full power Set Motor Speed to O in either direction to stop the motor Page 185 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Set Right LED 45 Argument Character vpe Constant yp Byte Displays the Character onto the Left LED Display on the MotorVator Set Servo Servo Argument Number Direction Angle Variable Constant Constant Byte Set the selected Servo to an angle between Back Anticloc kwise 90 degreesand Forward clockwise 90 Degrees Set Servo Percent Anument Servo Servo Percent of 9 Number Direction 9
39. NS EVENT INSTRUCTIONS ADD BYTE 54 ADD WORD 62 CALIBRATE JOYSTICK 29 CALL 51 CLEAR BYTE 61 CLEAR WORD 66 COMPLETE EVENT 75 COMPLIMENT BYTE 60 CONVERT BYTE 42 CONVERT WORD 43 DECREMENT BYTE 65 DECREMENT WORD 65 DEFER EVENTS 22 DISABLE EVENTS 6 DISPLAY HEX 38 DISPLAY NUMBER 39 DIVIDE BYTE 46 DIVIDE WORD 47 Page 10 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccani 151 151 152 153 153 153 155 155 155 156 157 158 158 159 159 159 160 160 160 161 161 161 161 162 162 162 163 164 164 164 165 MotorVator 4 User Manual ITIELCCANNISITIS EMERGENCY STOP 1 ENABLE EVENTS 7 END 5 ESCAPE 3 GET CLOCK TICKS 67 GET PROGRAM NUMBER IF BYTE EQUAL 80 IF BYTE GREATER THAN 83 IF BYTE GREATER THAN OR EQUAL 85 IF BYTE LESS THAN 82 IF BYTE LESS THAN OR EQUAL 90 IF BYTE NOT EQUAL 81 IF BYTE FLAG FALSE 77 IF BYTE FLAG TRUE 76 IF WORD EQUAL 86 IF WORD GREATER THAN 89 IF WORD GREATER THAN OR EQUAL 91 IF WORD LESS THAN 88 IF WORD LESS THAN OR EQUAL 90 IF WORD NOT EQUAL 87 INCREMENT BYTE 56 INCREMENT WORD 64 JUMP 53 LOGICAL AND 95 LOGICAL OR 96 Loop UNTIL ZERO 50 MOVE BYTE 11 MOVE WORD 12 MULTIPLY BYTE 58 NOP 0 ON ERROR 71 PLAY SOUND 48 PLAY TUNE 49 RANDOMIZE BYTE 59 Page 11 AmpWorks Limited 2003 2005 165 165 165 166 166 167 168 168 1
40. RtnVal varl var2 Else If MathType 2 Then 2 means Divide Temp varl var2 RtnVal MakeWord 0 Temp Convert result to a word Else Return O End If End If Return RtnVal End Function This function can be called as follows Myresult DoMath myvar 12 2 divide variable byte 12 Whereas using the call statement with a function that returns a variable will generate an error Call DoMath myvar anothervar 1 Ignores return variable and generates an error The return statement is used to return variables from a function RtnVal in the example above But consider this Return No variable supplied so will return the default O End Function The return statement here does not return a value and is therefore not necessary as the End Function will return the default value automatically In this case the compiler will remove the return statement as part of its optimisation You Page 103 AmpWorks Limited 2003 2006 MotorVator 4 r Manual should only use returns in your code if you want to exit early or return a specific variable Declare EventHandler Declare EventHandler EventHandlerName Statements that make up the EventHandler body Return End EventHandler Declares a user defined function of a special type that can only be called by the the operating systems events handling services Event Handlers must be declared before or after the end of the main program Event Handlers cannot be declared insid
41. VarName Read oystick J oystickNumber Xory Retrieves the current value of the joystick X or Y axis as specified by J oystickNumber and XorY These should be a literal number or constant with a values of 1 or 2 X or Y respectively any other values will generate a compiler error Variable names are not permitted Note that Read oystick returns a normalised reading that represents the percentage of movement away from the centre position Use Read oystickDir to determine in which direction the stick has moved Also see Calibrate J oystick For example MyByte Read oystick 1 X gets the value of Joystick 1 X axis See Also ReadJoystickDir Calibrate Joystick Copyright Meccanisms 2004 Read oystickDir ByteVarName Read oystickDir XE Joysticks Direction JoystickNumber XorY Retrieves the current direction of the joystick X or Y axis as specified by J oystickNumber and XorY These should be a literal number or constant with a values of 1 or 2 X or Y respectively any other values will generate a compiler error Variable names are not permitted The returned direction value will be a F for forward or B for backward Page 114 AmpWorks Limited 2003 2006 MotorVator 4 r Manual For example MyByte Read oystickDir 1 X gets the direction of Joystick 1 X axis See Also Read oystick Copyright Meccanisms 2004 ReadOnOff ByteVarName ReadOnOff OnOffPort
42. VarName ReadBattery Reads the current value of the internal Battery as a byte number between the value of 0 and 255 where 255 equals a full 9 volt battery Please note if no battery is present then unreliable values may be returned ReadButton ByteVarName ReadButton ButtonConstant Page 112 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Returns the current value of the button specified by ButtonConstant This value must be a literal number from 1 4 It is recommended you use the following system constants to make your code more readable NB These are listed in numerical value order J oystick1Button1 on Director J oystick1Button2 Joystick2Button1 Joystick2Button2 See Also SetEvent to read MotorVator buttons ReadData VarName ReadData DataPointerName Reads data from the position pointed to by DataPointerName and the pointer is incremented by one for a Byte or Boolean read or two when used to read a word or datapointer from the table DataPointerName should have been previously initialised with the DataPointerName SetDataPointer DataTable VarName can be a Byte Word Boolean or DataPointer variable Note using this function with a datapointer that is not pointing into a valid data table will result in unpredictable results See Also WriteData Copyright Meccanisms 2004 Page 113 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Read oystick Byte
43. Volts to the signal pin xo e ta 2 Within the MeccCode Software the variable READTIMEDSTATE x instruction see page 181 stores the current status into a variable that shows whether the port is currently High or Low so you can use these Timed Input ports as simple on off input ports There is also another instruction MyByte ReadTimedPulseWidth x that gives the width of the last incoming pulse Use this latter variable for calculations on distance temperature etc depending on the sensors characteristics There is also a ByteVarName ReadPulseCountDigital TimedPortNo Instruction that will return the number of pulses since the last time you asked See Page 180 NOTE 1 There are a further two Timed Input ports available through the Sensor Expansion Connector Layout Diagram 18 2 The Timed Inputs are shared with the Director Buttons Page 34 AmpWorks Limited 2003 2005 MotorVator 4 User Manual TILL EL glrirsrriem E g in this example we read the value from a Distance sensor connected to TIMED INPUT 1 and decide whether we have got too close to the object distance ReadTimedPulseWidth 1 it distance lt too close then StopMotors End if Page 35 AmpWorks Limited 2003 2005 MotorVator 4 User Manual 727 5 LL e NS ITIS Analogue Inputs Layout Diagram 19 These two ports allow you to measure variable voltage levels in the range 0 to 5V DC The Three pole co
44. a r1 ov gt u H C8 D u co U oo Og 5 2 Un Oc u O X sog n r gt cv D Ses c cr gs80 S Mc ooro 2o D MOO O O cogosg u Le oO D O D v o e otg E LUaLs gt S o n 5 gt NI c S e e aU D E a 0 u 056 LLI LLI I r4 2 0225 ND un FAYE 5 ud I I n So Uu c E un TD B KW 4 o TES Oc Oo S amp S O 8 dE 0 Oo 09 o D D Vo C Qi 4d 0O oO SU z D E go Q o O0 0 Onm Z Hn u uou L E 259 Le oO m po P S 4 e e g O 9 co co d qd D c Hr pe D D O c Uu n o oO n n ei Lt C co D S G D o0 o gt O O Q0 Q o US m O O Nn o 25 oT c occ o o oco u GY o D Q Uu v 4 rd rn S 5 BES Y 8 y F O Dow a A A Page 65 AmpWorks Limited 2003 2005 MotorVator 4 r Manual Addresses and Pointers When we want to store information we have define a word or a byte area large enough to hold the information and give it a name Think of this like a mailbox with a number We can put stuff into the box by simply saying Put Letter into Mailbox 23 or take it out with a Take a look into Mailbox 23 and tell me what s there Now think about a whole street full of mailboxes If wanted you to put a copy of the same newsletter into each one could say Put newsletter into Mailbox 1 Put newsletter into Mailbox 3 Put newsletter into Mailbox 5 and so on right down the street But I d probabl
45. a very powerful way of programming real time systems that need to act on inputs from external or other sources There are basically two ways in which we can write a real time program that monitors a range of inputs and controls a range of outputs The Main Loop Method Here we create a repeated Loop of instructions that read the inputs that we need to use and then decide on what action to take Use the Main Loop to monitor inputs that change frequently For example you might have a program that reads the Director Joysticks and controls several motors on a crane Begin program Loop Luffspeed readjoystick 1 Y Luffdir readjoystickdir 1 Y Tf luffdir F then Setmotor 1 F luffspeed Else SetMotor 1 B luffspeed End if slewspeed readjoystick 1 x Slewdir readjoystickdir 1 Xx If slewdir F then Setmotor 2 F slewspeed Else SetMotor 2 B slewspeed End if End loop The main loop reads the Joysticks as frequently as it can to ensure good responsiveness Page 69 AmpWorks Limited 2003 2006 MotorVator 4 r Manual The Event Method Under the event method we establish Events that we want to execute each time there is a change in the input Regardless of what our main program is doing when there is a change in the input our Event Code will Interrupt the main program and allow us to execute our special event code Events are good for t
46. ait For Time This makes the code much easier to read especially later when the program is more complex Variables have other more powerful uses as you will soon see Step Two Getting the Number to Change OK so we can display a number A good start but not very useful for the Electronic Dice program if the answer is always the same so lets focus on getting the number to change First we need to change our program so the display number statement can display numbers other than 45 We start to do this by introducing another variable thus Begin program Declare word delay 500 Declare byte dicevalue DisplayNumber dicevalue Wait delay wait for 5 seconds End program If you try running this code you will note the 45 has gone and been replaced by a OO This is because we did not tell the compiler what value we wanted DiceValue to be so it assumed a value of zero t is good programming practice never to assume what the value of a variable is and declare it to be a specific value at the start Otherwise you can inadvertently introduce difficult to find bugs that seem to appear and disappear randomly Page 75 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Lets introduce some math to make our number change Begin program Declare word delay 200 Declare byte dicevalue DiceValue DiceValue 1 DisplayNumber DiceValue Wait delay wait for 2 seconds End program Now we need to set up a
47. am for more information on layout and use See Also Program Layout Escape Program PowerOff Escape Program Back to Index No Arguments Terminates the current program but does not alter any current device settings Therefore any motors going servos positioned or action ports switched on will remain so This statement is useful for debugging or when you want to leave a servo in a fixed position See Also Emergency Stop Program Layout End Program PowerOff Include File Include File FileName Directs the compiler to include the specified filename as part of the program being compiled The file will be appended to the main program as if it was part of the main file at the point the include statement was discovered and must follow overall rules for that point in the program For example if the included file contains variable declarations that can only Page 125 AmpWorks Limited 2003 2006 MotorVator 4 r Manual be global such as DataTables and is included within a function declaration then it will generate an error Also note Functions cannot be declared within other functions Include files must also observe variable declaration rules ie no two global or local variables can have the same name Function names by definition are global so therefore an include file cannot contain a function declaration identical to the main program or any other includes Includes can be nested to a maximum of 255 levels t
48. and MaxWait to the smallest level that does not cause you to lose steps This will vary for each different type of stepper motor and voltage level SetStepper StepperNo Direction NumberOfSteps StepperNo Which stepper Stepper 1 uses Motors A amp B Stepper 2 uses Motors C amp D Forward or Backwards NumberOf Steps Having issued a SetStepper command the MotorVator will take over and handle the StepperMotor to turn the required number of steps and will handle the acceleration and Page 87 AmpWorks Limited 2003 2006 MotorVator 4 r Manual deceleration based on the MaxWait and MinWait parameters of the ConfigStepper command StepperlEvent So that you know that the Stepper has finished moving because you don t want your code to have to wait until it has finished before executing the next instruction the StepperlEvent or Stepper2Event will fire when the Stepper completes the NumberOfSteps requested in the SetStepper command Debug One of the most powerful abilities of the MotorVator is that of being able to debug your code interactively and step and trace each statement For larger programs however it can be tedious stepping through hundreds of statements to get to the area where you wish to look more closely The DEBUG statement now allows you to set a BreakPoint within your code In the Debugger you can tell the code to run until it gets to the next Debug Statement and then stop
49. ator 4 r Manual format The is useful for debugging and testing feedback as the two digit display can thus display the whole range of a byte variable 00 OFFH 0 255 See Also DisplayChars DisplayNumber DisplayNumber DisplayNumber ByteVar Places the contents of the specified Byte variable onto the seven segment LED display on the Motorvator in Decimal format The is useful for debugging and testing feedback but note the two digits will only display the two least significant digits so values over 100 will appear without the leftmost 100 or 200 digit See Also DisplayHex DisplayChars EmergencyStop No Arguments Stops all motors Turns off all Action ports Resets the servos to their central position and stops the current tune playing See Also Escape Program Enable Events Back to Index No Arguments Enables system events to percolate through to your code where Set Event Watch code has been implemented Note any events configured and working Page 124 AmpWorks Limited 2003 2006 MotorVator 4 r Manual before or since the corresponding Disable Events statement was executed will re awaken See Also Defer Events Disable Events SetEvent RemoveEvent RaiseEvent Declare EventHandler End Program Marks the formal end of the main program When execution of the code reaches this point the Motorvator will stop program execution and return to a ready state awaiting further commands See Begin Progr
50. cCode programs download them to the MotorVator and have your program available in the MotorVator at another time without having to download it again e g you want to program the MotorVator at home then take it to a meeting or exhibition then you need to fit the Backup Battery which will save your data between sessions To fit the battery remove the two screws marked below that hold the Battery Compartment cover on the underside of the case Connect the Battery Snap Lead to the 9V Battery making sure of the correct polarity of the connector Press the battery into the holder and the re fit with the screws Some 9V batteries are larger than others and they may cause pressure on the circuit boards within the MotorVator We recommend fitting 2 standard Meccano washers between the battery cover and the Motorvator case to provide some additional clearance Note to ensure that the memory contents of the MotorVator are maintained change the battery while the unit is powered by an external source and always shut the MotorVator down with the OFF key before removing external power Use the H Help command of the CLI to read the current battery voltage Change the Battery when the voltage falls to 6V Page 20 AmpWorks Limited 2003 2005 MotorVator 4 User Manual SPILL Cay US ITIS Ports The MotorVator supports a wide range of inputs and outputs DC Voltage Inputs There are three 2 1mm DC standard power sockets Layout D
51. cle round after reaching 255 See Also ReadPulseCountDigital ReadTimedPulseWidth ByteVarName ReadTimedPulseWidth TimedPort Reads the value of the last pulse width received on the port specified by TimedPort This should be a literal number or constant with a value between 1 and 4 any other value will generate a compiler error Variable names are not permitted Value returned is a linear scalar number that approximates the number of 110hz pulses counted while the timed port was high for the last full pulse That is if the port is in the middle of receiving a pulse you will still get the count for the last fully received pulse Page 116 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Note also that the maximum pulse width that can be measured is approximately 2 5 seconds 255 110 For example MyByte ReadTimedPulseWidth 1 returns the PW value of Timed port 1 ReadTimedState ByteVarName ReadTimedState XE Ports Timed Reading State TimedPort Reads the current state of the Timed port specified by TimedPort This should be a literal number or constant with a value between 1 and 4 any other value will generate a compiler error Variable names are not permitted The result will be either O Port Open or 1 Port Closed For example MyByte ReadTimedState 1 returns the value of Timed port 1 See Also ReadOnOff Receive mmmName Receive CommPort For future i
52. d Page 163 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Display Hex 38 Argument A Byte pe Variable Display the two character hexadecimal base 16 representation of a single byte value on the MotorVatortwo character display Display Number 39 Argument A Byte ne Variable Display the two character decimal representation of a single byte vanable on the MotorVatortwo character display A single byte can contain a value from 0 to 255 decimal NOTE If the value is greaterthan orequalto 100 then the MotorVator will display the two least significant digits l e the display is the same 23 for 23 and 123 and 223 and there is no waming given Only use if you are certain that your value is 100 otherwise use Display Hex Divide Byte 46 Argument A B Type Byte Variable Byte variable Divide A by B putting the result into A and the remainder into B Note that the Divide Byte and Divide Word overwrites the values of both A and B so MeccCompilerl uses temporary variables Page 164 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Divide Word 47 Argument A B Type Word Variable Word Variable See Also Divide Byte Divide A by B putting the result into A and the remainder into B Use Divide Word rather than Divide Byte if the size of the calculations will exceed 255 Note that the Divide Word and Divide Byte overwrites the values of both A and B so MeccCompil
53. d y uonng A Z Xons or X z Xons or A L Xons or X xons or SPOW Page 48 AmpWorks Limited 2003 2005 Page 47 AmpWorks Limited 2003 2005 MotorVator 4 User Manual TIECCOS NS ITIS pesseJd uo3ing e IuM UO UN S 104 uonov uMop play 21e suoqnq 2 IUM 3u6rgy JO 197 1 471 0 BAOW 3nq uonisog 943u92 3e 1591 SOAJ8S S JON peseajay q uonng 9J1u29D HO 4 pessaJgd a uonng anus peseajay J uoyng uO g pessaJg J uoyng alus p se j y g uoyng uO J p ss ld g uong aQua p se j y v uoyng uO g pessaJd y uoyng X Az Xons or X X z yons or X A Lxons or X X L Xons Aor Zuonoy uonoy ZOM9S OMS HlIOJON JO0 0W ZiOJON JOIOW uonov suyod uonoy pue somas uo uoroe doj4 dij4 UJIM S10 0W p 9 SpoW OAJ8S BUCO pue SJ030 J 293JU YUM 3nq y pue 03 JEIILUIS Se3oN peseajay q uonng pessaJg q uong HO p se j y 9 uonng SS ld 9 uon uO pesseid 9 uoyng p se j y g uonng pessaJdg g uonng HO poseajey y uoung SS ld onn uO pesseJd v uong X Az Xons op jeuonaodoug X z XonsKor A xons Aor X LXons or X MotorVator 4 User Manual 77 5L EL elrsfrr18 euonoy zuonoy juogoy ZONES LONSS FPIOIOW EJOJON Zz4010 LJOIOIW suod uoy uo doj j di ones siojow S SPOW Page 50 AmpWorks Limited 2003 2005 Page 52 AmpWorks Limited 2003 2005 MotorVator 4 User Manual 747 5LL gli msrrT18 in the ra
54. d declaring an argument as a constant does not make sense Constants and Literal values can be passed to a function as substitutes for any arguments however Functions that are declared as returning a Boolean data type can be used as the evaluation for If While and Until control structures Returns declares if the function returns a value or not If omitted calling this function using the format MyVal MyFunction will generate an error Functions that do not return a value must be called using the Call statement as follows Call MyFunction Please note using Call with a function that does return a value will generate a compiler error Functions that are declared as returning a value can use the Return keyword to return any valid variable constant or literal that matches the declared return type as Value Functions declared as returning a value that do not explicitly use the returns keyword or the keyword is perhaps inside an If statement not accessible on this run will automatically return a zero to the calling routine when the End Function statement is encountered An Example Function Declaration Declare Function DoMath var1 as Byte var2 as Byte MathType as Byte Returns Word Declare Word RtnVal 0 Declare a local word variable to contain a calculated return value Declare Byte Temp 0 If MathType 1 Then 1l means Multiply Page 102 AmpWorks Limited 2003 2006 MotorVator 4 r Manual
55. des also control the servos determined by the width of a pulse that is send to the Servo The Servo will maintain this position until a different pulse is sent Use these servo motors for steering mount a sensor on a servo and create a radar scan sensor use two servo motors to create a walking motion have your robot turn a door handle through ninety degrees etc The following photo shows a Servo Motor connected to operate the grab on a robot arm where by turning through 90 Degrees Left to 90 Degrees Right the jaws of the grab close and open Page 40 AmpWorks Limited 2003 2005 MotorVator 4 User Manual MECCANS LE te Page 41 AmpWorks Limited 2003 2005 MotorVator 4 User Manual STILL Cal NSITIS Optional Accessones and Modules Meccanisms Director The Meccanisms Director connects to the Sensor Expansion Port and provides two XY Joysticks and Four Control Buttons to give you manual control over the most complex models particularly cranes Page 42 AmpWorks Limited 2003 2005 MotorVator 4 User Manual JILL EL gli msrr8 Within the MeccCode Software are instructions that give you access to the values of the Joysticks and Buttons Instruction CALIBRATE Joystick 1 DeadBand X Deadband JOYSTICK or 2 Y READ X or Y J oystick J oystick JOYSTICK1 direction from Reading center READ J oystick J oystick J OYSTICK2 direction from Reading center READ BUTTON Button 1
56. difficult error to trap System predefined constants are considered global and cannot be overridden by re declaring them as some other value either at global OR local level Page 97 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Value Can be any number or string literal value appropriate for its eventual use in functions statements and or variable assignments Constants are very useful for setting overall boundary values Then if this value needs to be changed later it only needs to be changed in one place Constants can also be used in Data Tables Example Declare Constant MAX ANGLE 34 declares and sets a constant Declare DataTable Declare DataTable Name Value value OR Reserve NumberOfBytes Value OR Reserve NumberOfBytes End DataTable Data table declarations are generally used to describe a large quantity of data and as such can span multiple lines A Carriage return is treated as a comma so the whole block is seen by the compiler as one contiguous statement They are commonly used in conjunction with Data Pointers ReadData and WriteData commands Data Tables are always global and cannot be declared inside function or event declarations as memory space restrictions make local Data Tables unfeasible Name cannot be a reserved word Eg Declare cannot contain spaces and must be unique within the same scope Value can be substituted with literal va
57. e inputs The Sensor Expansion Port Connections Shown looking down into the Female Port Connector are D15 HD D15 5V Reset 5SV o 0 5V 5V Gnd Timed Input2 O Timed Input 1 Timed 1 Analog 4 Analog 3 O O Analog 4 Analog 5 Timed 3 Gnd o Reset Timed 4 Analog 6 Gnd O Analog 5 Analog 6 O O Timed Input 3 Middle Column from Top Timed Input 4 O o 45V Timed 2 5V O Analog 3 Gnd n c 5V Technical Note These four additional analogue ports are shared with the Director Joystick inputs Joystick One shares Analog ports 3 and 6 and Joystick Two shares Ports 4 and 5 The Timed Inputs are used for the Director Buttons This information is provided to give you the maximum flexibility in using the MotorVator Ampworks takes no responsibility for any damage done to or caused by the MotorVator due to incorrect connections Page 54 AmpWorks Limited 2003 2005 MotorVator 4 User Manual TILL LE eliresrrem Analogue Expansion Modules The Analogue Expansion modules gives you access to four more analogue ports see page 36 and two more Timed Inputs Each of the six connectors has the same three connectors Ground OV 5V and Signal In Use the Ground and 5V wires to power the sensor or as reference voltages for your own circuits The MotorVator software has standard instructions for all six analogue ports 2 on the main MotorVator unit and these four on the Analogue E
58. e current value of the up button Page 151 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Events Constants These constants are designed to be used in the various events statements and functions were event type is required ButtonOnEvent 4 ButtonDownEvent 6 EVENT_STEPPER2_STOP J8 ReceiveEvent 9 See Also Defer Events Disable Events SetEvent RemoveEvent RaiseEvent Declare EventHandler Enable Events E E B U User2Event U U U U Page 152 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Compiler Option Switches Option Force Globals Option Force Globals On OR Off By default the compiler treats all variables declared at the top of the program as globals and all variables declared within function declarations as local variables This requires a surprising number of additional instructions when the program is compiled and run so this option allows you to force all variables into globals and results in a faster and smaller program Program Layout Programs are expected to be set out in the following manner A template will be added to the Environment that will be invoked each time New File is selected that sets out the basic structure Example Program Layout Compiler directives go here recommended location Declare global variables here recommended location Declare Functions and Event Handlers can go here
59. e either F or B Read Pulse Count Digital 36 Read Pulse Count Timed 37 Argument Port Number Count Constant Byte 1 4 Vanable Page 180 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Read Timed Input 33 Argument ee State La stHighWidth Constant Byte 1 4 Variable Byte Variable Reads the current value of the Timed Input Ports and also retums the duration of the last High Pulse on the port even if the port is currently Low Receive 14 See Also Transmit Returns a received packet of eight bytes of data from the Communications Port Use in conjunction with the Transmit Instruction to have the MotorVator communicate with a PC or other MotorVators Remove Event Watch 73 Removes an existing User Event Watch as defined with Set Event Watch from the active list Once removed the Event code will be executed even if the Event now occurs You can reenable to Event by using the Set Event Watch Reset 8 No arguments Reset the user program to run from the beginning Page 181 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Retum 52 No arguments Set Action Port 30 Action Port Argument Number Action State Constant or Type res ane Vanable i Byte Set the Output of the Action Port to either Off if value of Action State is ZERO On forany other value of Action State Set Data Pointer 15 Argument Data Pointer Address Word pps Pointer pape Set
60. e other event handlers Function or Data Table declarations Name represents the name you want to use for this EventHandler declaration It cannot be a reserved word eg Declare and must be unique EventHandler names cannot contain spaces take arguments or return values EventHandler declarations are by nature strictly global declarations and cannot be nested That is one EventHandler declaration cannot contain another Statements that make up the EventHandler body can be any allowable declaration statement system function or call to other functions defined within this program including those within files imported into this program using the Include File statement You can have multiple events going to one handler but there is no way to determine which event caused the handler to be invoked Recommended practice is to have a Page 104 AmpWorks Limited 2003 2006 MotorVator 4 r Manual dedicated event handler for each event you wish to work with Caution calling code from within event handler The compiler will ensure all local variables are safe but if your event code alters a global variable that was in the process of being used by the normal program you may end up with a bug that is very difficult to find Consider the following code fragment Declare Byte MyGlobalVar 99 Declare Byte AnotherVar 0 Begin Program SetEvent EvMicroswitchHandler OnOfflEvent While MyGlobalVar lt gt 1 AnotherVar MyG
61. e power 2 The Power connected to Motor AB Power Socket 6 and possibly Motor CD Power Socket 7 is now only used for the Motor Outputs Note also that if you plug a power source into this Action Power Socket and don t plug anything into the Motor AB Power Socket or Motor CD Power Socket then no voltage is available for Motors A or B or C or D Page 24 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccanismi MotorVator 4 User Manual meccanismi The power into the Action Power Socket is also used to create the Communications Port Layout Diagram 13 5V supply needed to operate the Servo Motors ports 1 so it d must be a minimum of 6Volts 0 The communications port allows you to connect to a Personal If you want to run motors with a voltage of less than 5 Volts then Computer and 1 Connect the lower supply voltage e g 3 Volts to the Test individual ports using the CLI see below Motor AB and or CD Input Sockets i Download User Programs from CodeWriter and 2 Connect a minimum 6V supply to the Action Input Socket MeccCompiler Debug your MeccCode Program You can operate two different motor voltages plus a third voltage Command Line Interface CLI for the Action Ports For example The Command Line Interface CLI allows you to instruct the Input Voltage Voltage Available MotorVator to perform a single function This is useful when testing Socket Supplied your model d
62. ed 2003 2006 MotorVator 4 r Manual System Functions These functions are provided by the operating system and do not need to be defined in your code to be used Functions follow the same general format as a user defined function that returns a value VarName SystemFunctionName argl1 arg2 argN See Also Statements Compliment MyByte Compliment ByteToCompliment Returns a bitwise ones compliment of ByteToCompliment Generally useful only in specialist bitwise operations or as an alternative way to flip a true flag false and visa versa See Also Not GetClock MyWord GetClock Returns the current value of an internal timer running at 1024hz This is a Word value that rolls through O after 65535 and runs continuously This is useful where it is important to your code to know how long between doing things For example Set a motor going GetClock and note its value wait for a limit switch to close and get the clock again to see how long it took to get there for further analysis Page 108 AmpWorks Limited 2003 2006 MotorVator 4 r Manual GetProgramNumber ByteVarName GetProgramNumber Reads the program number that was selected before pressing the Green RUN key on the MotorVator There are no arguments Selecting any Program number from 90 99 will invoke the current user program so this instruction is useful to allow your program to perform different behaviour dependin
63. either right or wrong Page 56 AmpWorks Limited 2003 2005 MotorVator 4 User Manual PILL Cal NS ITIS Instructions The instruction is the fundamental element in program preparation Like a sentence an instruction usually consists of a subject an object and a verb The Verb is the What what are we going to do here Each machine has a limited number of built in operations that it is capable of executing Also called the Operator or Opcode short for Operation Code The subject and object are the things that we are doing the What with and are often called Operands or Arguments For example DIVIDE BYTE A B says that we are to take values referred to by A and B and divide them Which is divided by what is determined by the specific Syntax of the DIVIDE BYTE instruction The subject and objects can include 1 The location where data to be processed is found 2 The location where the result of processing is to be stored 3 The location where the next instruction to be executed is found When this type of operand is not specified the instructions are executed in sequence Instructions may be classified into categories such as input output 1 O data movement arithmetic logic and transfer of control Input output instructions are used to communicate between the unit and external devices Data movement instructions are used for copying data from one storage location to another and for rearrangin
64. ent Do not operate the equipment if it has been dropped or appears physically damaged Contact your service agent Prevent the unit from coming into contact with water or other liquids If the unit is wet do not operate Disconnect the battery and leave the battery cover off Dry the exterior and place in a warm max 302C dry place and allow to dry out before attempting to operate Do not short circuit any of the terminals other than expressly described in this manual Do not supply more than 15 Volts to any of the Power Input Sockets Do not connect anything other than a 5V input to any input port Do not connect other than a standard 9V battery to the battery clip Do not exceed the rated current amperage for any port Specifically do not exceed 300mA for the Action Outputs or 1A continuous on the Motor Outputs gt LEE PP RE Page 13 AmpWorks Limited 2003 2005 MotorVator 4 User Manual ITIBELCCANNISITIS A Remove the battery before storing for extended periods The MotorVator is a powerful flexible device able to control a wide range of external items We have no control over how you use the MotorVator the programs that you load into the MotorVator what you connect to it or what the resulting combination does Meccanisms Limited takes no responsibility for any harm damage or other claim caused by any machine controlled all or partly by the MotorVator We strongly recommend taking a minimum of
65. er Il uses temporary variables to keep the original values for later instructions Emergency Stop 1 see also Stop Motors Stops all motors tums off all Action Ports Disables all Servos Enable Events 7 See Also Disable Events Sets any Listed events as defined using Set Event Watch instructions to active End 5 see also Escape Emergency Stop Your program will stop executing and retum the MotorVatorto the ON state Note that this statement WILL automatically reset stop any Motors Servosor Action Ports that you might have been using Page 165 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Escape 3 see also End Emergency Stop Your program will stop executing and retum the MotorVatorto the ON State Note that this statement WILL NOT reset any Motors Servos or Action Ports that you might have been using This is so that you can leave specific ports servosetc in a known state e g you can leave a crane grab in the closed position orleave a brake setting on Given that any motors etc running will not be stopped it is up to you to ensure that all outputs are in a known state before using the Escape command Unless you re absolutely sure use the END command Get Clock Ticks 67 Argument A Type Word Variable Read s the current value of the System Clock Ticker into a word variable Page 166 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Get Program Number Argument A
66. ers a sleep mode and awaits the pressing of the power on button See Also Escape Program Push Push ByteVar OR WordVar OR BooleanVar OR DataPointer Push places the specified variables value onto the user program stack where it can be accessed later with a corresponding pop statement CAUTION The stack is used to manage variables through the user function call process and to protect the content of local variables especially in the case of recursive code Pushing or popping data values on and off the stack will interfere with this process and could create a difficult to find bug As a rule all pushes should be matched with a corresponding pop within the same code scope That is within the main program or within the same function declaration See Also Pop Page 127 AmpWorks Limited 2003 2006 MotorVator 4 r Manual RaiseEvent RaiseEvent EventType Allows your code to explicitly raise an event Especially useful for the 8 User Defined events but can be used for debugging or simulating the system related events such as BateryVoltageEvent See Events Constants for a list of events that can be raised See Also Defer Events Disable Events SetEvent RemoveEvent Declare EventHandler Enable Events Events Constants Receive Transmit Functions have been implemented that allow you to Send and Receive Data via the Serial port The data is sent and received in Ascii Triplets where three Ascii
67. g and changing of data elements in some prescribed manner Arithmetic instructions permit addition subtraction multiplication and division Page 57 AmpWorks Limited 2003 2005 MotorVator 4 User Manual TIELCCOSNSITIS Logic instructions allow comparison between variables or between variables and constants Transfer of control instructions are of two types conditional or unconditional Conditional transfer instructions are used to branch or change the sequence of program control depending on the outcome of the comparison If the out come of a comparison is true control is transferred to a specific statement number if it proves false processing continues sequentially through the program Unconditional transfer instructions are used to change the sequence of program control to a specified program statement regardless of any condition Page 58 AmpWorks Limited 2003 2005 MotorVator 4 User Manual TIELCCO NS ITIS What does MeccCode Look Like MeccCode is just a series of instructions which are executed acted on one at a time Each instruction tells the MotorVator to do one thing A MeccCode program looks like this Begin Program Declare Byte Count 1 Do Count Count 2 DisplayHex Count Until Count gt 250 End Program Page 59 AmpWorks Limited 2003 2005 MotorVator 4 User Manual 747 5LL gli srr18 Instructions Your program will be made up of a list of MeccCode Instructions As each
68. g on how it is invoked For example program 99 could be used to run the program while some of the other numbers are used for debug modes or variations on the operational mode as decided by your code Example MyProg GetProgramNumber If MyProg 98 then Call Run Diagnostics if you select 98 then you can run your diagnostic code first endif main program here then your main program can run HighByte ByteVarName HighByte WordVarName Page 109 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Returns the value of the upper of the two bytes that make up a word For example WordVar 259 MyByte HighByte WordVar Where MyByte will be set to 1 And the lower byte will be zeros Useful for determining a byte overflow situation after byte multiplication See Also LowByte LowByte ByteVarName LowByte WordVarName Returns the value of the lower of the two bytes that make up a word For example WordVar 259 MyByte LowByte WordVar Where MyByte will be set to 3 And the high byte will be 1 Useful for retrieving a byte value after byte multiplication where the result is unlikely to go over 255 or you don t care about a value higher than 255 See Also HighByte MakeWord WordVarName MakeWord ByteVarName Page 110 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Converts the byte specified into a word variable See Also HighByte LowByte Not MyByte
69. gn to the variable every time this program is run or this Page 96 AmpWorks Limited 2003 2006 MotorVator 4 r Manual procedure is entered It can be either True or False Other variable names or equations are not allowed If Value is omitted variable is not explicitly set when program runs This generates a warning at compile time Not setting a default can be useful if the variable is a global and it is desirable to retain the value from one run to the next Locals are created dynamically as required and their value cannot be guaranteed at all Examples Declare Boolean MyFlag declares a boolean variable called myFlag Declare Boolean IsRunning True declares and defaults a boolean variable to system constant Declare Constant Declare Constant NAME Value Common convention is constants names should be all uppercase to differentiate from variables The value is not optional in declaration Constants will throw a compiler exception if any code attempts to change them Name cannot be a reserved word Eg Declare cannot contain spaces and must be unique within the same scope That is no two globals may have the same name and no two local constants can be identical A local constant CAN have the same name as a Global and as such will be used in preference to the Global for all code within that function A warning will be issued by the compiler in these circumstances as if unintentional this could be a
70. go onto the User Programming a Unpack the MotorVator and the Director b Connect the Director cable to the MotorVator Sensor Expansion Port Layout Diagram 18 c Obtain a suitable Power Source It should provide a minimum of 7 5Volts DC and have a 2 1mm DC Power Plug wired as per the diagram on page 21 Ble IT IS VITAL THAT THE PLUG IS WIRED CORRECTLY If not you will Damage the MotorVator Sources of suitable Power Supplies include a Batteries Dry Cell or GelCell batteries For free running models e g robots the Radio Controlled Hobby has large capacity Rechargeable battery packs that are ideally suited Be aware however that these batteries can provide a very high current for a short period of time It is recommended that you should test your models using standard dry cell e g Eveready batteries first Note that the C Tick Approval Z204 for the Page 16 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccanismi MotorVator has been issued for battery use only This means that there is has been no test completed to confirm that the Motorvator does not exceed Electro Magnetic Radiation in laymans terms interference with radio receivers under operation with a mains powered external power supply b DC Power supplies e g Train Controllers Power Packs etc Make sure that they are DC and not AC many cheap power packs are AC Be careful about using chea
71. guments and return no variable must still be declared with brackets after the name There must be no spaces after function name and before the brakets eg Declare Function MyFunction Your code here End Function Statements that make up the function body can be any allowable declaration statement system function or call to other functions defined within this program including those within files imported into this program using the Include File statement arg1 argn represent variables the function expects to be passed when it is called A function may require any number of arguments to be passed when it is called including none Arguments are always passed by value that is the function is called with a copy of each argument If the function alters one of these values it does not alter the value back in the calling routine This includes Globals passed to the function To alter a Global within a function reference it directly There are only two ways a function can provide altered values to its calling routine 1 The value the function returns if declared 2 Directly altering a globally declared variable within the function 3 Clever manipulation of the user stack for serious advanced users only Page 101 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Type the declared arguments to the function can be of type Byte Word Boolean or DataPointer Functions DataTables cannot be passed to a function an
72. hat is a file that is included can contain include directives within itself Careful the included files do not reference files already included as this will create a circular reference and will generate an error Filename must be the filename and extension of the file to be included This will be appended to the compile path Therefore you may use and to provide a relative path instead of absolute If the filename includes the Colon character then it is assumed to reference an absolute filename and this will be used as is and the filename will not be appended to the default pathname Files can be of any text type provided it obeys syntax rules Thus a CSV file A comma delimited format that Excel is capable of producing could be maintained externally yet imported and compiled successfully between Declare DataTable and End DataTable statements which would make for a tidy layout See Also Program Layout I ncrement Increment Variable Used to decrement the contents of the variable by one Variable may be a Word Byte or DataPointer Page 126 AmpWorks Limited 2003 2006 MotorVator 4 r Manual This is the recommended way of incrementing a variable as it is easy to read in the code and is more efficient in memory use and execution than the familiar MyByte Mybyte 1 See Also Decrement PowerOff No Arguments Turns off power to peripheral chips and stops all devices similar to emergency stop CPU ent
73. hat you can time in one go is 65535 1024 64 seconds You can use the GetClock function to program an in line wait that still lets your events happen during the waiting time E g example to wait for 2 seconds between beeps You can use the GetClock function to program an in line wait that still lets your events happen during the waiting time E g example to wait for 2 seconds between beeps Declare Function WaitClock tickstowait as word Declare Word startclock Declare Word thisclock Declare Word clockdone startclock GetClock Do thisclock GetClock clockdone thisclock startclock Until clockdone gt tickstowait End Function Begin Program Loop Call WaitClock 2048 2x 1024 2 seconds Beep 50 1 End Loop End Program Page 86 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Stepper Motor Routines There are three new instructions supporting Stepper Motor Operation ConfigStepper SetStepper StepperlEvent Stepper2Event ConfigStepper StepperNo MinWait MaxWait HoldCurrent Stepper 2 uses Motors C amp D MinWait How long to wait between steps at the maximum speed MaxWait How long to wait between steps at the minimum startup speed HoldCurrent What percentage of full power to apply when the stepper is stationary to have it hold its position Use these parameters to tune your stepper for maximum performance without losing steps Set the MinWait
74. his Page 73 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Begin program DisplayNumber 45 Wait 500 End program Try it Great We can see the number 45 displayed for 5 seconds before the program ends The Wait For Time 500 doesn t read like a 5 second wait So lets take some time to make sure our code can be understood better Even professional programmers can t figure out what their code does months or years later so rely on carefully chosen variable names and comments to make the program more readable First let s add a comment to the Wait For Time line thus Begin program DisplayNumber 45 Wait 500 wait for 5 seconds End program Notice the semi Colon at the beginning of the Five Second comment This tells the compiler that everything afterwards is for humans only and it should not try to interpret it as part of the instruction We can still make this more readable And more useful later on by introducing a variable Begin program Declare word delay 500 DisplayNumber 45 Wait delay wait for 5 seconds End program Page 74 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Let s examine this change carefully We have a new statement Declare Word which is known as a Directive In this case it tells the compiler we want it to use an algebraic word called Delay and it should be set the value of five hundred We have then used it to replace the 500 in the instruction W
75. iable Decrement the value of the Byte Variable A by 1 A A 1 Decrement Word 65 Argument A Toe Word YP Variable Decrement the value of the Word Vanable A by 1 A A 1 Defer Events 22 See Also Enable Events No Arguments After this command no Events will interrupt your program The events will still be logged but the Event Code established by a Set Event Watch will be temporarily disabled To re activate the events issue an ENABLE EVENTS instruction The difference between Defer Events and Disable Events is that the events will still be logged counted under a Defer Events and will be available once the Enable Events is issued A Disable Events removes the monitoring of events completely Page 162 AmpWorks Limited 2003 2006 MotorVator 4 r Manual For example if you issue a Defer Events and three event triggers happen before the Enable Events is issued then the Event Code will be run three times before your program continues Disable Events 6 See Also Enable Events No Arguments After this command no Events will be active If you are using events if often pays to start with a Disable Event then any SET EVENT WATCH then any other initialisations then before the main program starts issue an ENABLE EVENTS instruction This stops any events firing before you are ready You can also Disable Events if you are in a time critical part of your program that you don t want interrupte
76. iagram no 6 7 and 8 Use these to supply DC power for the various devices being controlled NOTE THESE CONNECTORS MUST BE WIRED CORRECTLY THE GROUND GOES TO THE PIN IN THE MIDDLE Page 21 AmpWorks Limited 2003 2005 MotorVator 4 User Manual SPILL Cal NSITIS Motor AB Power Socket Layout Diagram 6 Power connected to this socket is used to drive the Motor Outputs A and B Layout Diagram no 10 The motor switching circuits will provide Pulse Width Modulated PWM signals to the DC motors connected to A and B using this voltage source The Amplitude maximum voltage of the signals from connectors A and B will match the input voltage to this socket Pulse Width Modulation is a way of controlling speed by controlling the width of full voltage pulses rather than controlling the voltage level itself It has benefits of providing smoother speed control plus good low speed operation because the use of the full voltage at all speeds overcomes resistance issues that hamper operation at low voltages Page 22 AmpWorks Limited 2003 2005 MotorVator 4 User Manual STILL Cal NS ITIS Traditional Variable Voltage Control E O O Qo Off Slow Medium Fast Pulse Width Modulation Control E O O e Llo Off Slow Medium Fast Note that if you do not supply a different voltage to the other two DC Voltage Input sockets then the in
77. ion Output Ports is Note that the Voltage PIN is always Provided by pulling the Live therefore care needs to be E Port taken not to short the Voltage Pin BEEN Off the Ground Pin floats to ao even if the Port is turned ay below tie Aion Ours Voltage The Voltage Pin is always at the Action Output The power going to these outputs Voltage comes from the Action Power Source Connector Layout Diagram 8 see page 24 Use the SetAction PortNo ByteValue Instruction to set Action Port PortNo to On 1 or Off 2 DO NOT Exceed a current drain of 300mA A higher current will burn out the internal transistors Page 39 AmpWorks Limited 2003 2005 MotorVator 4 User Manual STILL Cal Sf Servo Motor Contol Outputs Layout Diagram 1 Servo Motors Servo Motors are a special There are two ports dedicated to controlling kind of DC motor that do servo Motors not simply turn over and over when voltage is applied A Servo Motor is designed to rotate a programmed amount and then hold that position They are typically used in There are two 3 pin connectors that will take Radio Controlled models a standard Futaba Hitec servo cable directly cars boats planes etc to control rudders steering throttle settings etc The amount of rotation is There are standard software functions within the MeccCode software so you can control the Servo motors to a specific angle Several of the PreProgrammed Mo
78. ion is cumbersome and hard to read it is common to express byte value in Hexadecimal where two hexadecimal Digits with value from 0 9 A F can represent the value in one byte Each Hexadecimal digit represents 4 bits 00 to 15 decimal where A is 10 B is 11 etc To distinguish Hexadecimal numbers from decimal numbers add a Ox to the front i e 53 is 53 decimal 0x53 is 53 Hexadecimal 83 decimal For example Decimal 00000000 00 00000101 05 00001100 OC 16 94 205 We can use a byte to store any value that will only require a range of between 0 and 255 A Word is twice as big as a Byte and has 16 bits It can handle numbers in a range of O to 65535 so we use Words when the values might get bigger than 255 We also use a Word when we want the variable to point to another variable Some instructions expect a Byte some expect a Word If you try to use the wrong one you ll get the wrong result Page 61 AmpWorks Limited 2003 2005 MotorVator 4 User Manual TIBEEBIeSITTIeS Variables and Constants Now that you know whether you want a Byte or a Word you need to also know whether the instruction that you are using expects a Constant or a Variable A constant is just that a fixed value that doesn t change For example Forward is defined as a constant that is always used with the SET MOTOR command to indicate that you want the Forward direction The Set Motor Command expects to see you referring to
79. itched Duration is in 1 10 of a second See Also PlayTune Begin Program Marks the beginning of the main program This is the point at which execution will begin A typical program structure would be lt lt Variable amp Function Declarations gt gt gt Page 119 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Begin Program lt lt Statements gt gt End Program More Variable amp Function Declarations gt gt See Also Program Layout Calibrate J oystick Calibrate Joystick JoyStickNo DeadBandX DeadBandY Calibrate joystick is used to set the centre point of the specified joystick by providing a deadband specified as a around the location of the stick at the time of execution of this statement All movement is then scaled proportionally so reading a joystick will provide a smooth linear progression from Center O Full throw 100 representing the distance from Centre The three arguments to the statement are all byte values literal or constants Specifying a variable will cause a compiler error Example Calibrate Joystick 1 10 10 Picks up current stick position and wraps a 10 dead band around that point which is considered centre See Also Read oystick Read oystickDir Page 120 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Call Call MyFunction arg1 arg2 argn Required method of invoking a user defined function that does not retu
80. k of statements are executed execution recommences with the first valid instruction after end Select Select Case statements can be infinitely nested Example Select Case arg1B Case 1 Page 149 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Statements Only executed if arg1B 1 gt Case MyByte Statements Only executed if arg1B MyByte gt Case 3 4 5 lt Statements Only executed if arg1B 3 OR 4 OR 5 gt Case Else lt Statements Only executed if arg1B does not equal any other value in the list gt End Select Predefined System Constants True In MeccCode True is defined as not Zero That is a byte of any value except O True as a constant is defined as 255 decimal Can be used in Math or Boolean functions For Example MyByteVariable True Or If MyVar False Then Page 150 AmpWorks Limited 2003 2006 MotorVator 4 r Manual False False is defined as 0 Can be used in Math or Boolean functions as per the example in constant True above Forward Defined as the single ascii character F Can be used to make some commands more readable Example SetMotor 1 Forward 50 Backward Defined as the single ascii character B Can be used as per the constant Forward Example SetServo 1 Backward 40 UpButton Value 5 Used with ReadButton to extract the current value of the up button DownButton Value 6 Used with ReadButton to extract th
81. ke this is how even experienced professional programmers gain an understanding of unfamiliar commands or techniques l Change the read button to other buttons 2 Change the count direction to down using the Subtract command 3 Get the program to wait for a button press before starting and another to stop 4 Add an additional delay and loop after the final count is displayed to start the program again automatically 5 Introduce a noise when you press the button with Play sound 6 Try introducing deliberate mistakes and see what the compiler Motorvator does Page 78 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Debugging Your Program Errors caused by faulty logic and coding mistakes are referred to as bugs Finding and correcting these mistakes and errors that prevent the program from running and producing correct output is called debugging Rarely do complex programs run to completion on the first attempt Often time spent debugging and testing equals or exceeds the time spent in program coding This is particularly true if insufficient time was spent on problem definition and logic development Some common mistakes which cause program bugs are mistakes in coding punctuation incorrect operation codes transposed characters keying errors and failure to provide a sequence of instructions a program path needed to process certain conditions To reduce the number of errors you will want to carefully check y
82. l If Word Greater Than 89 If Word Less Than or Equal 90 Argument A B C Argument A B C Word Byte Type or variable or Label Type a vanable or Label Vanable Vanable constant constant If A gt B then J ump to C eS Een Jump to If Word Not Equal 87 If Word Greater Than or Equal 91 Argument A B C Argument A B C Word Word Word Type variable or Label Word Variable Type l vanable or Label constant Vanable dant OAN If A lt B then J ump to C If A gt B then Jump to C Inc rement Byte 56 If Word Less Than 88 Argument A Argument A B C Byte Type Word Vanable Type mo Vanable or Label yp Vanable Increment the value of the Byte Variable A by 1 constant A A 1 If A lt B then J ump to C Page 171 Page 172 AmpWorks Limited 2003 2006 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Increment Word 64 Argument A wp e Word Vanable Increment the value of the Word Vanable A by 1 A A 1 Jump 53 Argument A Type Label o p RE UnconditionalJ ump Cause execution to occurfrom LabelA Logical AND 95 Argument A B Ic Byte Byte Type Vanable or Variable or ye constant constant Variable Performsa Binary AND function between Byte Variable A and Byte Variable B and putsthe Result into variable C A Binary AND takestwo bits with the following results AND O 1 0 0 0 1 0 1 Use the AND command to extract specific bitsfrom a byte orto Tum OFF specific bits
83. l be processed as soon as the next Enable Events statement is executed Note the max queue depth for any one event is 255 Defer events is designed to be used to protect a critical piece of code from interruption without loosing the interruption Example Defer Events Do some code here that cannot be interrupted Enable Events See Also Disable Events SetEvent RemoveEvent RaiseEvent Declare EventHandler Enable Events Page 122 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Disable Events No Arguments Halts the raising of all events Recommended to be used before setting up or removing individual events watches See Also Defer Events SetEvent RemoveEvent RaiseEvent Declare EventHandler Enable Events DisplayChars DisplayChars Char1 Char2 Places the character corresponding to the ascii code of the supplied variable on each of the digits of the seven segment LED display Where the ascii code corresponds to a non display character three horizontal bars will be displayed in that digit Example Declare Byte MyBytel 48 Declare Byte MyByte2 49 DisplayChars MyBytel MyByte2 Will place 10 on the display DisplayChars G O Will place GO on the display See Also DisplayHex DisplayNumber DisplayHex DisplayHex ByteVar Places the contents of the specified Byte variable onto the seven segment LED display on the Motorvator in Hex Page 123 AmpWorks Limited 2003 2006 MotorV
84. lobalVar 1 lt lt Busy doing something with the local variable here gt gt MyGlobalVar AnotherVar End While lt lt More really cool code here gt gt End Program Declare EventHandler EvMicroswithHandler lt lt Do something useful here gt gt MyGlobalVar 1 Signal something has happened End EventHandler Page 105 AmpWorks Limited 2003 2006 MotorVator 4 r Manual In the somewhat contrived example if you imagine the intent of the code was to loop around doing something including modifying MyGlobalVar until a microswitch attached to port OnOffl was pressed when it would exit the While End While and go do something else If the microswitch was closed thus triggering the event while the program was working hard in the section noted lt lt Busy doing something with the local variable here gt gt then the following would happen 1 Event handler would be called doing something and finally setting MyGlobalVar to 1 2 Code in the main program would resume execution and eventually get to the bit that assigns MyGlobalVar to AnotherVar 3 The While End While would never exit because it would not be set to 1 TIP Any global variables used by event handlers should only be altered by the event handler or used as simple set reset flags Variable and Function Names All variable constant and Function names must follow the following rules 1 Must start with an alpha character a z 2 Cannot c
85. loop so the program increments DiceValue displays the number and loops around to do it all over again Our changed code looks like this Begin program Declare word delay 100 Declare byte dicevalue Loop DiceValue DiceValue 1 DisplayNumber DiceValue Wait delay wait for 2 seconds End Loop End program The instruction Loop and the matching End Loop tells the Motorvator to keep looping repeating all instructions between forever t is good programming practice to indent all of your code within a loop or IF other conditional structure It makes no difference to the compiler but sure is easier to read for humans Run this code and you now have a slowly incrementing count on the display Each second the digit is incremented But it never ends Once it gets to 99 it goes back to zero Gets to 99 a second time zero THEN once it gets to 55 zero again Why A byte variable can contain a maximum value of 255 before an increment takes it back around to zero A useful feature in some programs The display however can only show two digits thus Page 76 AmpWorks Limited 2003 2006 MotorVator 4 r Manual numbers between 100 and 200 show as 1 to 99 but because of the max value of 255 it cycles around to zero the third time through Lets add code to use a button to stop the count Begin Program Declare Word delay 25 Declare Byte DiceValue Declare Byte Button Do DiceVal
86. low the modified RTTTL Ring Tone Transfer Language format rules Each note has the following format 1 2 4 8 or 16 for the duration def 4 optional A to G for the Note P for silent note optional dot to extend duration by 1 2 for sharp optional 5 or 6 for the octave optional def 5 4C 5 is a 1 4 note of lower c 2C 6 is a 1 2 note of upper c C is 1 4 tone of C in lower octave Notes are separated by Commas E g the startup fanfare is 16C 16E 16G 8C6 16G 2C6 The differences from full RTTTL No spaces allowed in string No tune name or parameter commands MotorVator only supports octaves 5 and 6 Note Names must be in CAPITALS Page 137 AmpWorks Limited 2003 2006 MotorVator 4 r Manual The DataTable must end with either a 13 in which case the tune will finish or a in which case the tune will repeat until StopTune is called or another PlayTune is started For example to create a Truck Reversing Beep Declare DataTable TruckReversing C6 P lt End Datatable SetMotor 1 Backward Speed SetMotor 2 Backward S peed PlayTune TruckReversing will keep beeping until stopped Wait 220 go back for about 2 seconds StopMotors StopTune See Also Beep StopTune Return Return OptionalVarToReturn Return is used within function declarations to specify the specific value or contents of the specified variable to be returned to the calling code The type of the variable specified
87. lues or constants including strings but not Variable Names The Reserve Page 98 AmpWorks Limited 2003 2006 MotorVator 4 r Manual keyword can be used to set aside a specific number of bytes Example Declare DataTable MyTable MyTable lots of data 25 2627 Three Byte values Reserve 1024 Reserve 1024 bytes TRUE MY_CONSTANT 2 constants in table My String Goes Here A String in the Table End DataTable Declare DataPointer Declare DataPointer Name Declares a special type of variable This variable contains no useful data directly but is used to point to a memory address where the desired data resides It is used to work with DataTables Data Pointers can be declared globally or locally Name represents the name of the pointer you wish to declare Data Pointer names cannot contain spaces It cannot be a reserved word Eg Declare and must be unique within the same scope That is no two globals may have the same name and no two local data pointers can be identical A local pointer CAN have the same name as a Global and as such will be used in preference to the Global for all code within that function A warning will be issued by the compiler in these circumstances as if this naming was unintentional it would make a difficult error to trap Page 99 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Data Pointers can only be assigned using the SetPointer VariableName command VariableName can
88. mplementation See Also Transmit Page 117 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Randomize MyByte Randomize Provides a pseudo random seed number between 1 255 This number is generated by combining several internal system variables including the state of the interrupts Note If you continually call this function with little other code in operation the responses will not appear as random as when the function is used within the context of a larger program that calls it occasionally SetPointer DataPointerName SetPointer DataTableName SetPointer can only be used to set the address the specified datapointer points to Please see notes on declaring data pointers for more information See Also Declare DataTable Until Until ValidBooleanExpression See Do Until in Looping and Conditional Structures Section See Also Condition Syntax While Page 118 AmpWorks Limited 2003 2006 MotorVator 4 r Manual While ValidBooleanExpression See While End While in Looping and Conditional Structures Section See Also Condition Syntax Statements Statements differ from system functions in one important way they do no return any value Therefore they do not require an associated variable name or brackets The format iS Statement argl arg2 argN See Also System Functions Beep Beep Note Duration Note is a relative tone Smaller numbers are higher p
89. must match what is declared in the function declaration That is if the function is declared as returning a byte then attempting to return a word will generate a compile error Example Page 138 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Declare Function MyFunction MyArgument as Byte Returns Byte If MyArgument 0 then Return 0 Else Return MyArgument End If End Function Wait Wait TimeToWait Waits for the specified time in approximately 110ths of a second supplied by the word variable literal or constant represented by TimeToWait Example Wait 110 Waits approximately 1 second before continuing Note that during a WAIT operation no other instruction including Events can run Therefore be wary of using long waits and you delay an important Event change It is better to use the Timer Events or to use a loop with a counter or even to use a short WAIT 1 within a loop Page 139 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Math Handling MeccCode supports simple math statements as follows in the rest of this section Each step must have a variable to assign the value to and up to two arguments and an operator The arguments can be variables literals or constants Addition MyByte A B MyWord A B MyPointer A B A and B can be Variables Literals or constants that resolve to values Assignment MyByte A MyWord A A ca
90. n be Variables Literals or constants that resolve to values Division MyByte A B MyWord A B Page 140 AmpWorks Limited 2003 2006 MotorVator 4 r Manual MyPointer A B A and B can be Variables Literals or constants that resolve to values Only a whole number result is returned Use MOD to obtain the remainder Divide by zero results in a zero result Subtraction MyByte A B MyWord A B MyPointer A B A and B can be Variables Literals or constants that resolve to values Multiplication MyWord A B MyPointer A B A and B can only be Byte Variables Literals or constants that resolve to Byte values Note the sum is returned in a word variable Word multiplication is not Supported Mod MyByte A MOD B MyWord A MOD B MyPointer A MOD B Page 141 AmpWorks Limited 2003 2006 MotorVator 4 r Manual A and B can be Variables Literals or constants that resolve to values The result is set to the remainder of the division This can be useful if you have a loop that needs to update the screen every 50 times through as illustrated in this example Example Declare Byte Counter 0 Declare Byte Check 0 Do Counter Counter 1 lt Some Statements that do the work gt Check Counter MOD 50 1f returns O then counter is divisible by 50 If Check 0 then DisplayNumber Counter
91. n be allowed to operate For example if you have a critical Event on an input Say an emergency stop limit switch then even if the input changes during the Wait the event won t occur until the wait time has finished Try with the following example with a microswitch connected to OnOff3 Input and see that even though you change the microswitch the o3 is not displayed until the next Beep sounds i e when the Wait 500 has completed Declare EventHandler OnOff3change DisplayChars O 3 End EventHandler Begin Program SetEvent OnOff3Event OnOff3change Enable Events DisplayChars A 0 Loop Beep 100 10 Wait 500 End Loop End Program GetClock Wait In order to get faster Stepper Motor functions See next section we have increased the frequency of the internal clocks This means that any of your existing code that uses WAIT or GetClock will need to be changed Page 85 AmpWorks Limited 2003 2006 MotorVator 4 User Manual TJELCEVUSITIS The GetClock function now runs at 1024Hz rather than the current 111Hz while the main clock now runs at the Slightly faster 128Hz rather than 111Hz So to get a Wait of 1 second use WAIT 128 See the note under TimerEvents about the dangers of using Long Waits nothing else in your code will run during a Wait statement so you might miss an important event Note that the GetClock function returns a Word value so the maximum period t
92. nd information e g for logging or debugging to the CLI The data is send as three character sets of ascii values separated by commas e g a buffer containing 1 2 4 8 16 32 64 128 will be sent as 073 001 002 004 008 016 032 064 128 The 073 represents an I character which is always sent on the front of a transmission Page 188 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Wait for Time 70 Arg ument Time To Wait To Wa it Constant or Type Variable Word Pauses execution of code for Time to Wait times approximately 1 111 seconds e g to wait forone second use WAITFOR TIME 111 Write Data Byte 17 Argument Data Pointer Pointer Variable Type Word Byte Pointer Vanable Write the value of the byte variable into the byte pointed to by Data Pointer and increment the Data Pointerto point to the next byte Write Data Word 19 Argument Data Pointer Pointer Variable Type Word Word Pointer Vanable Write the value of the WORD vanable into the WORD pointed to by Data Pointer and increment the Data Pointer to point to the next WORD Example Use to wnte data into a table Note that we use Multiply Byte to get the index into a Word format and index by 2s because a word is two bytes so we can add to the base pointerto get to the Correct table entry Page 189 AmpWorks Limited 2003 2006
93. ng up a series of data is done with the ReadDataByte instruction which says take a look at the data in the mailbox pointed to by mailbox pointer copy it down to a notepad then point to the next mailbox Notepad ReadDataByte Mailbox pointer Page 67 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Program How When writing your MeccCode program keep in mind that the instructions will execute as fast as they can For example if you execute a SETSERVO Command the MotorVator won t wait for the servo to go to the required position before executing the next instruction As an example this simple program looks like it will move Servo 1 to the left then finish Begin program Setservo T Bee 75 End program However if you try it you will see nothing appears to happen This is because the END command resets all servos to the centre position This is done so quickly after the SET Servo command that you don t see any movement If you need to know that the command has completed before the next command is executed use Wait or read in some sort of feedback from the analogue or digital ports and build a wait loop until the required position is reached then proceed on e g Begin program Declare byte endswitch Setservo LB TS Do Endswitch readonoff 1 Until endswitch closed End program Page 68 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Events Programming The Events Construct is
94. nge 10cm to 80cm The Meccanisms Sensor comes prewired for direct connection to an Analogue port easy to use with your Meccano model It comes prewired for direct model GP2D12 designed to give analogue readings for distances This is the cheapest way of getting distance proximity information The Meccanisms SW1 is a simple microswitch mounted to make it connection to an On Off Port The Meccanisms InfraRed Distance Sensor is a Sharp IR Ranger into the MotorVator InfraRed Distance Sensor SW1 Bumper switch Page 49 AmpWorks Limited 2003 2005 Page 51 AmpWorks Limited 2003 2005 MotorVator 4 User Manual FILLE al NS ITIS This page left intentionally blank MotorVator 4 User Manual meccanismi Servos Mounting Set The Meccanisms Servo Mounting Set is designed to mount a Futaba S3003 or compatible Servo Motor within the Meccano Geometry The Mounting Plate aligns the Servo Motor and the Horn Plate mounts to the Servo Horn to give you the equivalent of a Bush Wheel on which to attach cranks or other gears see picture page 40 The Servo Mounting Set can be supplied with or without the actual servo motor Page 53 AmpWorks Limited 2003 2005 MotorVator 4 User Manual 77 5 LL e i sf f amp B amp Sensor Expansion Cable The Sensor Expansion Port Layout Diagram 18 gives access to four additional Analogue Inputs and Two additional Timed inputs The Optional Sensor Expansion Cable gives you access to thes
95. nnector on these ports provides 5V Ground and the Signal In line Use the 5V to power compatible sensors and to provide the reference voltages for the potentiometer or your own sensing circuits Qr CR as is 3 LS e os j Signal C i a AS D Va CB The simplest way to use these ports is with a Potentiometer When wired as shown above turning the knob on the potentiometer which is just like the volume knob on a radio will change voltage on the Signal line between 0 and 5 Volts ONLY USE THE O0 and 5V reference voltages supplied at the MotorVator port Page 36 AmpWorks Limited 2003 2005 MotorVator 4 User Manual JILL Lagi msfrr8 The following photo shows a potentiometer connected via a 3 1 gearing to the arm of a robot As the robot arm moves through its full range about 80 degrees the potentiometer is geared to move through most of its full 270 degree range and so provides a varying analogue voltage signal between O Volts at one end of the range Analog value 0 and 5 Volts Analog value 255 at the other end of the range Page 37 AmpWorks Limited 2003 2005 MotorVator 4 User Manual 775L Cal vSItis In the MeccCode software use the ByteVarName ReadAnalogue AnaloguePort instruction command to get the current value For example the following routine will start the Robot Arm moving upwards and wait until it gets to a predefined position then stop the arm SetMOtor A
96. nter Note that if less than 8 Triplets are sent before the Carriage Return then the rest of the 8 bytes will be set to 00 e g sending 1001002003 CR will give 01 02 03 00 00 00 00 00 in the receive buffer datatable Here is an example program test of send and receive to use Set the program running from the CLI using the G command press the key then press 0 0 3 and CR Enter it will display 07300300000000000000000 every 5 seconds it will display 073084088032021082088032001 or similar Set up a transmit buffer that will have text TX followed by count and text RX followed by count e g TXOLRXO1 Declare DataTable txbuffer TX Il Page 91 AmpWorks Limited 2003 2006 MotorVator 4 r Manual End DataTable Declare Byte TXCount 0 Declare DataTable txbugRX RX Il End DataTable Declare Byte RXCount 0 Declare DataTable rxbuffer Reserve 8 End DataTable Declare Byte RXTemp Declare DataPointer TxBuffPointer Declare DataPointer RxBuffPointer Begin Program SetEvent ReceiveEvent RxEvent SetEvent TransmitEvent TxEvent SetEvent UserTimerlEvent txtimer Enable Events TXBuffPointer SetPointer TxBuffer RXBuffPointer SetPointer RxBuffer SetTimer 1 1 set the timer so it will send the first message Loop do nothing and let the events do the receiving and sending End Loop End Program Declare EventHandler txtimer Page 92 AmpWorks Limited 2003 200
97. oltage Sensing Inputs Q Four Timed Pulse Width Measurement Inputs TABLE OF CONTENTS 4 LI Four Digital Inputs ooo 9UU LULUO uuGU ILULOUUUER RLM m Two Servo Motor Control Outputs L Three Controlled Action Outputs SAFETY INFORMATION 13 MOTORVATOR LAYOUT DIAGRAM 15 BASIC OPERATION MOTORVATOR 4 16 GETTING STARTED 16 RUNNING PREPROGRAMMED MODES 16 BACKUP BATTERY 20 PORTS 21 DC VOLTAGE INPUTS 21 MOTOR AB POWER SOCKET LAYOUT DIAGRAM 6 22 Page 3 Page 4 AmpWorks Limited 2003 2005 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccanismi MOTOR CD POWER SOCKET LAYOUT DIAGRAM 7 ACTION POWER SOCKET LAYOUT DIAGRAM 8 COMMUNICATIONS PORT LAYOUT DIAGRAM 13 COMMAND LINE INTERFACE CLI ON OFF INPUTS LAYOUT DIAGRAM 3 4 17 TIMED INPUTS LAYOUT DIAGRAM 5 ANALOGUE INPUTS LAYOUT DIAGRAM 19 ACTION OUTPUTS LAYOUT DIAGRAM 2 24 SERVO MOTOR CONTROL OUTPUTS LAYOUT DIAGRAM 1 40 OPTIONAL ACCESSORIES AND MODULES MECCANISMS DIRECTOR MODE 1 MODE 2 MODE 3 MODE 4 MODE 5 MODE 6 INFRARED DISTANCE SENSOR SW 1 BUMPER SWITCH SERVOS MOUNTING SET SENSOR EXPANSION CABLE ANALOGUE EXPANSION MODULES MORE ACCESSORIES MECCCODE II SOFTWARE DEFINITIONS COMPILER SOURCE CODE OBJECT CODE SYNTAX Page 5 AmpWorks Limited 2003 2005 42 INSTRUCTIONS WHAT DOES MECCCODE LOOK LIKE INSTRUCTIONS HARDWARE ACTIVE INSTRUCTIONS HARDWARE INPUT INSTRUCTIONS PROGRAM FLOW INSTRU
98. on is released or 1 if the button is depressed Button Numbers are 1 Director Left Button 2 Director Left Stick 3 Director Right Button 4 Director Right Stick Read Data Byte 16 Argument Data Pointer Variable Word Byte Type Pointer Vana ble Read the value of the byte pointed to by Data Pointer store into Vanable and increment the Data Pointerto point to the next byte Page 178 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Read Data Word 18 Argument Data Pointer Variable Word Word Type Pointer Variable Read the value of the Word pointed to by Data Pointer store into Variable and increment the Data Pointerto point to the next ord Read Digital Input 31 Digital Port Argument No A Constant Byte Be Value 1to 4 Variable See Also Read Button Read Timed Input Read Analog Input Read the current state of any of the Digital Inputs Variable A will be set to eitherO if Digital input is open or 1 if Closed Page 179 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Read J oystck One 27 Read J oystick Two 28 Argument J oystic k Port Direction Reading Type Constant Byte Variable Byte Variable Byte Read the cument Joystick adjusted values from the specified Joystick1 Axis X or Y into the variables Direction and Reading Each value will be O to 100 representing a reading from Center 0 to Up or Full Down or Full Left to Full Right 100 Direction will b
99. ontain any of the recognised math or relational operators such as lt gt 3 Cannot be a reserved word A System function or statement name 4 Cannot contain Brackets or or comma s or quotes Page 106 AmpWorks Limited 2003 2006 MotorVator 4 r Manual 5 Must be more than 2 characters long 6 Other symbols and numerals can form part of the name but not the first character For Example MyFunctionl or Goodl Name6 See Also Declarations When to Declare Number Formats When To Declare All variables and constants must be declared within the program That is the file being compiled or any files included using the Include File statement Because the compiler checks right through the whole program for variable declarations before checking each line for errors variables can be declared before or after use However it is good programming practice to declare variables before you use them ie global variables at the top of the program before the Begin Program statement and local variables at the top of the routine they will be used in For more information see Program Layout Number Formats Wherever it is legal to place a number it is also possible to place a hexidecimal number by prefixing the number with a zero and suffixing with an H Example MyByte OFFh Equivalent of decimal 255 MyByte 12 OFh Not recommended to mix formats in same statement but quite legal Page 107 AmpWorks Limit
100. or byte variables which aids writing common driver code to cope with multiple axes of movement Some Examples SetMotor 1 Forward 100 Forward is a system constant for F SetMotor MyMotor MyDirection MySpeed SetMotor 2 F 0 Stops motor two See Also StopMotor StopMotors SetServo SetServo SetServo ServoNo Direction Degrees SetServo ServoNo Direction Percentage Both Statements set the specified servo to the position in the specified direction One accepts a variable containing degrees 0 90 while the other accepts a byte Variable contain 0 100 96 Depending on your coding situation one will suit better than the other The SetServo is useful if you want to take the result of a Read oystick and apply it directly to the servo e g Angle ReadJoystick 1 X Direction Read oystickDir 1 X If Direction Forward Then SetServo 1 Forward Angle else Page 134 AmpWorks Limited 2003 2006 MotorVator 4 r Manual SetServo 1 Backward Angle end if ServoNo must be a byte literal or constant 1 or 2 Direction must be a byte literal or Constant for F Forward or B Backward SetStepper SetStepper StepperNo Direction Steps Direct the stepper motor to turn in Direction for Steps number of steps The MotorVator will manage the ramp up and slow down of the stepper speed The EVENT STEPPER1 STOP and EVENT STEPPER2 STOP events can be set to trigge
101. our program design before getting down to actually keying it in After the program has been checked visually accuracy the program is ready to be compiled The compiler prepares your program source program to be executed by the Motorvator and it has certain error diagnostic features which detect certain types of mistakes in your program These mistakes must be corrected Even when an error free pass of the program through the compiler program is accomplished this does not mean your program is perfected However it usually means the program is ready for testing in a MotorVator perhaps using the built in debugger that allows you to step each line of code and check that the results are what you intended before continuing with the next step Page 79 AmpWorks Limited 2003 2006 MotorVator 4 r Manual The CLI Debugger The CLI debugger allows you to debug your program by Single stepping This means that you can ask the Motorvator to execute one MeccCode instruction then wait While waiting you can check the outcome of the last instruction look at the variables in memory and even change the values As an example let s look at a sample program as follows Begin Program Declare Word delay Declare Byte DiceValue Declare Byte DiceDisplay Declare Byte Button Loop Do DiceValue DiceValue 1 DiceDisplay DiceValue Mod 6 Increment DiceDisplay DisplayNumber DiceDisplay Wait delay Button ReadButton DownBut
102. p To use Enter D Will display the Instruction just executed plus the relevant variables 6 When you start up the MotorVator you should see This display will be in numeric only format Enter Command gt in the Communications Window use the OpCode table to decode 7 You can use the Radio Buttons section at the bottom of the Communications Window to manually test your hardware Press Enter to execute next instruction 8 Experiment with the CLI Commands Enter Pa b c and you G stop debugging and let program Go will hear a short tune from next instruction Mxxxx displays 64 bytes of data starting from address xxxx User Program space starts at address 0000 Aaaaadd allows a single byte at address aaaa to be changed to value dd Both aaaa and dd are in Hexadecimal format R restart your program from address 0 J Jaaaa causes your program to execute from address aaaa X exits debug mode and stops Page 27 Page 28 AmpWorks Limited 2003 2005 AmpWorks Limited 2003 2005 MotorVator 4 User Manual ITIBCEdBnmmis Run Program Gpp pp is two digit program number 99 is for LN the User Program Any other number will run a Preprogrammed mode Help H Displays the version number serial number Battery Voltage and a list of Valid CLI commands J Sets the three variables used by the Stepper Motor Commands n 1 or 2 for Stepper 1 MotorAB or Stepper 2 MotorCD mmm three digit
103. p plug packs even if they are DC Many of these are unregulated which means that they will reduce voltage from mains supply down to the nominal stated voltage but they do not get rid of the ripples nor will they give out a constant voltage under load Only use a plug pack that is Regulated c The power supplies from Old Personal Computers These typically supply clean power at 5V and 12V with high current capacities Leave them in their PC cases for safety and connect to the big connectors that went to the Disk Drives You will find both 5V and 12V on these connectors Make sure that the current capacity from the power supply is greater than the sum of all the outputs that you want to operate concurrently Each motor may require upwards of 1 Amp Any Servo Motors see page 40 will require 0 5A while turning and if you want to use the Action Ports see page 39 then you need to allow for the consumption on these ports also d Connect the Power Source to the Motor AB Power Input Layout Diagram 6 Turn the Power On e The MotorVator should play a short fanfare then display ON on the two character display Page 17 AmpWorks Limited 2003 2005 MotorVator 4 User Manual ITIBELCCANNISITIS f The four keys on the MotorVator work in a consistent manner Key Main Functions RED OFF Stops Programs Running Layout Diagram 11 Hold Down for two seconds to Turn MotorVator Off GREEN ON Start Program Layou
104. perience with the whole cycle of writing compiling debugging and running your own applications Page 72 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Electronic Dice Install the MotorVator Software from the CD Run the MeccCompiler Program gt Meccanisms gt MeccCompiler 11 Select New Source File and choose your source file as the input source file Lets start off with a very simple program that turns the Motorvator into an electronic dice Push a button and the LED digits will count rapidly push another button and it will stop and display a number between 0 and 99 Step One Getting a number to display Type the following text into the editor Begin program DisplayNumber 45 End program What this will do seems fairly obvious so Compile it Compile gt Compile Source then download it MotorVator gt Open Comms Window MotorVator gt Download Current Program to the Motorvator Now Press the Green RUN radio button in the Comms Window or press the Green ON MotorVator button twice When you run the program the Motorvator does it s four beeps shows 99 the program number and Goes straight to displaying on What went wrong In fact nothing went wrong The Motorvator displayed the number then immediately after finished running your program and returned to the ON prompt Lets add a wait instruction to force the Motorvator to slow down to human time Your code should now look like t
105. put voltage to the Motor AB Power Socket is used for all the devices If you only provide one power source then it must be a minimum of 6 Volts We recommend using a single 9V or 12V switch mode supply for most applications Page 23 AmpWorks Limited 2003 2005 MotorVator 4 User Manual 77EL E ef T amp f T 15 Motor CD Power Socket Layout Diagram 7 If you connect a power source to this socket then two things happen l Power connected to this socket is used to drive the Motor Outputs C and D Layout Diagram 9 and used for the Action Ports if nothing is plugged into Action Power Socket Layout Diagram no 8 2 The Power connected to Motor AB Power Socket is now only used for Motors A and B Note also that if you plug a power source into this Motor CD Power Socket and don t plug anything into the Motor AB Power Socket then no voltage is available for Motors A or B Note that regardless of the voltage connected to the Motor AB Socket if you connect power to the Motor CD Socket and do not connect voltage to the Action Input Socket then the Motor CD Voltage supply must be a minimum of 6 Volts Action Power Socket Layout Diagram 8 If you connect a power source to this socket then two things happen l Power connected to this socket is used to drive the Action Outputs Layout Diagram 2 and the Servo Outputs Layout Diagram 1 and used for the internal workings of the MotorVator and for any sensors that requir
106. r when the stepper has finished moving so you can go onto the next movement StopMotor StopMotor MotorNo Stops the specified motor MotorNo must be a literal value or constant between 1 and 4 Variable names will cause a compiler error See Also SetMotor StopMotors Page 135 AmpWorks Limited 2003 2006 MotorVator 4 r Manual StopMotors No Arguments Stops all motors See Also SetMotor StopMotor StopTune No Arguments Stops the current tune playing See Also Beep PlayTune Transmit See Receive WriteData WriteData MyDataPointer WordVar OR ByteVar OR BooleanVar WriteData is used to place data into a predefined DataTable via the specified data pointer The provided data Word Byte or Boolean is written to the current address pointed to by the Data Pointer and the pointer incremented to the next free position NB No checks are performed to ensure the pointer is in fact writing within the bounds of a declared data table so this command should be used with utmost care Example Declare DataTable MyTable Reserve 10 Page 136 AmpWorks Limited 2003 2006 MotorVator 4 r Manual End DataTable Declare DataPointer MyPointer Declare Byte MyByte 99 MyPointer SetPointer MyTable WriteData MyPointer MyByte Writes 99 into the first location of MyTable See Also ReadData SetPointer PlayTune Playtune DataTableName The contents of the DataTable must fol
107. racking inputs that change infrequently A good example is a safety switch that would normally be open but when closed indicates that something needs to be shut down immediately You could put a test for the switch status in the main loop but this would i add an overhead to the main loop that almost always would be unnecessary ii mean that you would only detect the safety switch at one point in the main loop and you may need to act more quickly than this would allow So we code an Event to trigger from any change in the safety switch input In general you use a combination of the Main Loop to monitor the frequently required inputs and Events to handle the infrequent but important inputs Page 70 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Example monitor the Director Joysticks and operate our crane but if the switch on the Rope Slack ever closes then we want to stop immediately to avoid the main rope tangling Declare eventhandler ropeslack Declare byte ropestate Ropestate readonoff 1 If ropestate 1 then EmergencyStop End if End eventhandler begin program setevent onofflevent ropeslack enable events Loop drumspeed readjoystick 1 Y drumdir readjoystickdir 1 Y If luffdir F then Setmotor 1 F drumspeed Else SetMotor 1 B drumspeed End if slewspeed readjoystick 1 Xx Slewdir readjoystickdir 1 X If slewdir F then Setmotor 2 F slewspeed Else
108. reate a local variable only available to code within that specific function Name represents the name of the variable you wish to declare It cannot be a reserved word Eg Declare cannot contain spaces and must be unique within the same scope That is no two globals may have the same name and no two local variables can be identical A local variable CAN have the same name as a Global and as such will be used in preference to the Global for all code within that function A warning will be issued by the compiler in these circumstances as if unintentional this could be a difficult error to trap Value represents the optional value you wish to assign to the variable every time this program is run or this procedure is entered It can be either a literal Number 0 255 a single String character e g F or the Name of an acceptable constant Other variable names or equations are not allowed If Value is omitted variable is not explicitly set when program runs This generates a warning at compile time Not setting a default can be useful if the variable is a global and it is desirable to retain the value from one run to the next Locals are created dynamically as required and their value cannot be guaranteed at all Page 94 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Examples Declare Byte Mybyte declares a byte called mybyte Declare Byte DefaultedByte 0 declares and defaults a byte variable Declare
109. rmMotor F armspeed Do Armheight ReadAnalogue 1 Until Armheight gt Arm_Top StopMotors There is a wide range of sensors that provide information in this format The Meccanisms IR Distance Sensor is just one example where the voltage reading from the sensor is related to the distance of the detected object There are an additional Four Analogue Inputs available through the Sensor Expansion Connector Layout Diagram 18 These can be accessed using the Analogue Expansion Module see page 55 or the optional Sensor Expansion Cable Page 38 AmpWorks Limited 2003 2005 MotorVator 4 User Manual I MECCA 5SfT75 Action Outputs Layout Diagram 2 There are three Action Output Ports Each of these ports can be turned On and Off from within your programs When the Port is On it provides Voltage at a maximum current of 300mA per port DO NOT CONNECT THINGS THAT WILL DRAW MORE THAN THIS CURRENT YOU WILL BURN OUT THE TRANSISTORS Shorting the pins will do the same If you want to control high current items then use the Motor Output Ports or connect a relay or external transistor circuit to the Action Output You can use this output to power additional small motors external lighting solenoids etc Note that any motor connected to these Action Output will be either Off or Fully On unlike the Motor Ports there is no speed control or reversing capability e eT ae x Technical Note The drive current for the Act
110. rn a value Call MyFunction MyArgs See Also Declare Function ConfigStepper ConfigStepper StepperNo MinWait MaxWait HoldPercent ConfigStepper is used to set up the parameters used by the SetStepper command StepperNo 1 or 2 MinWait a number from 0 to 255 to wait between steps at the fastest speed Set to the lowest value that will allow your stepper to turn and not lose steps MaxWait a number from 0 to 255 to use when starting a stepper movement SetStepper will automatically ramp up the speed to the maximum speed HoldPercent a percentage from 0 to 99 for the amount of current used when the stepper is not turning to hold its position It is suggest that 1096 is typically sufficient The four arguments to the statement are all byte values literal or constants Specifying a variable will cause a compiler error Example ConfigStepper 1 10 100 10 Page 121 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Decrement Decrement Variable Used to decrement the contents of the variable by one Variable may be a Word Byte or DataPointer This is the recommended way of decrementing a variable as it is easy to read in the code and is more efficient in memory use and execution than the familiar MyByte MyByte 1 See Also Increment Defer Events Similar in behaviour to Disable Events with one key difference Any events that arrive while Defer Events is asserted are cached and wil
111. rs e g the 54 in Add Byte 54 allow you to match the instructions Argument Types In the following instructions you will see that each instruction has ARGUMENTS These arguments are the values that the instruction uses So an ADD BYTE instruction does a C A B function and so needs three arguments A B C The type of arguments varies Argument Type Means Byte Variable The of a variable that you ve declared As Byte Byte Constant A fixed byte value number from 0 255 single Character Word Variable The name of a variable that you ve declared As Word Label The Address of the next piece of code to execute Hardware Active Instructions Display Hex Page 164 Display Number Page 164 Emergency Stop Page 165 Play Sound Page 176 Play Tune Page 177 Set Action Port Page 182 Set Left Led Page 184 Set Motor Page 185 Set Right Led Page 186 Set Servo Page 186 Page 155 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Set Servo Percent Page 186 Stop Motors Page 187 Transmit Page 188 Hardware Input Instructions Read Analogue Input Page 177 Read Button Page 178 Read Digital Input Page 179 Read Joystick One Page 180 Read Joystick Two Page 180 Read Pulse Count Digital Page 180 Read Pulse Count Timed Page 180 Read Timed Input Page 181 Receive Page 181 Set Event Watch Page 183 Page 156 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Program How Instructions If Flag False Page 170 If Flag T
112. rue Page 170 If Byte Equal Page 167 If Byte Greater Than Page 168 If Byte Greater Than or Equal Page 168 If Byte Less Than Page 169 If Byte Less Than or Equal Page 169 If Byte Not Equal Page 169 If Word Equal Page 170 If Word Greater Than Page 171 If Word Greater Than or Equal Page 171 If Word Less Than Page 171 If Word Less Than or Equal Page 172 If Word Not Equal Page 172 Loop Until Zero Page 174 Wait for Time Page 189 Get Clock Ticks Page 166 Get Program Number Page 167 Page 157 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Data Instructions Add Byte Page 159 Add Word Page 159 Subtract Byte Page 187 Subtract Word Page 187 Move Word Page 175 Move Byte Page 175 Multiply Byte Page 175 Divide Byte Page 164 Divide Word Page 165 Clear Byte Page 160 Compliment Byte Page 161 Logical And Page 173 Logical Or Page 174 Convert Byte Page 161 Convert Word Page 161 Event Instructions Set Event Watch Page 183 Disable Events Page 162 Enable Events Page 165 Remove Event Watch Page 181 Complete Event Page 161 On Error Page 176 Defer Events Page 162 Page 158 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Add Byte 54 Argument A Byte Type variable or Constant see also Add Word Subtract Byte C A 8B B C Byte variable or ys bie Constant Adds Byte A to Byte B and puts result in Byte C Add Word 62 Argument A Word Type vanable or constant See Also Add Byte Subtract Word C A4B
113. t Diagram 12 Turn MotorVator On Yellow UP Change Selection Layout Diagram 13 White Down Change Selection Layout Diagram 14 Basic Operation I MotorVator Displays ON Il Press UP Down to change the Program Number Cycles from 00 to 99 Program Mode 99 is a special mode and is used for a Program created by the User on the MeccCompiler Software Suite and downloaded to the MotorVator Ill Press ON Green to go to Select Program The MotorVator will beep three times then start running the program This is to give you time to be ready with your model Each Program Mode uses a different combination of motors Director controls etc See page 45 for tables showing which Director controls attach to which motors servos etc IV Press OFF Red to stop the program V To test plug a motor or motors into MOTOR Outputs A through D Select Program 01 Press GO Green Move the joysticks on the DIRECTOR and the motors should run Page 18 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccanismi VI Holding down the OFF Red button for two seconds when a program is not running will turn off the MotorVator Press the ON Green button to start up again Page 19 AmpWorks Limited 2003 2005 MotorVator 4 User Manual J NECCAMSMS Backup Battery If all you ever want to do is run the Pre Programmed Modes then there is no need to fit the Backup Battery If however you want to write your own Mec
114. tchClosed SwitchNo Then do something here gt Else Do something else End If Declare Function LimitSwitchClosed SwNo as Byte Returns Boolean Do something here gt End Function Page 145 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Do Until Used where a conditional loop is needed and the condition should be checked at the bottom of the loop This means at least one pass through the loop will be completed before the condition is checked Example Do Statements Until Condition 2 True If the condition evaluates true then execution restarts with the first instruction after the DO statement Loop End Loop Used where a loop is needed that will go on indefinitely that is there is no condition to evaluate This is useful for the main loop of the program or testing hardware Example Loop Statements are executed forever End Loop Page 146 AmpWorks Limited 2003 2006 MotorVator 4 r Manual While End While Used where a conditional loop is needed and the condition should be checked at the top of the loop This means the code within the While End While section will only be executed while the condition evaluates as true Example While Condition True Statements executed while the condition is true End While If Then Else End If Used to execute a group of instructions conditionally This is not a loop structure Example If Condition Then
115. ton Until Button lt gt 0 Wait 500 End Loop End Program When compiled this gives us an object map as follows Page 80 AmpWorks Limited 2003 2006 y Wa MotorVator 4 r Manual Aan E Q 0 H n H gt 0 U D v UD z oo 5 a Oo H Q Q O co E n m co RS gt o ER D P H 0 H Q G a YP O n m H E H gt O 4 d 5 A un ze g H o oe Q i Q 4 g N DA gt u o A O0 5 Q D E D 3 0 m Q Q 4 0 O E4 D n n A TD S i N n Q d H S Qu gt Q gt 9 Q Q gt O E Q n A 0 0 c p U 0 oe Oo U r4 O D Ru P 4 H r 4 oO D 3 NN oO A o N A A TD D mM a0 0 e gt Q Q 3 SEH E n E E E m E A oe oO o c H H 0 9 H H 4 4 9 X My nn pal D no un D Oo Oo OGD e oO DANN O LO DN N O O O Er O Q0 LO Ga oco oH H ou u 4 gt MH D 4 je oe x gt A m o OV y A A M HPA 4 v D NS 3 5 0 Q m H 0 0 0 0 i n S o Cro D D 3 Q z Pal N D o A O A oO E m aa O O H oO Sy A V E H gt gt ss A U anor o D u o TD 0 Q a G 5 4 O o0 O Oo U u U Q Q O O i5 Oo M o Ud ou D D p O A ava a hr a 9 D D ij E MI fu S u G 0 D 3 m 5 Qu le Q O O Il D OQ on aa m T E O uj 4H fe go z TD D o o 3 Ei Qn F S 0
116. truction temporarily but still keep all the addresses for following instructions the same On Eror 71 Opcode Argument Eror Routine Retum Code AT Byte Type labe n Addres If the MeccCode interpreter in the MotorVator encounters a system intemal or code enor then program control can be sent to an enor routine Play Sound 48 Argument Note Value Duration Variable or Variable or Constant Constant Byte Byte Play a sound tone of which is determined by the value of Note Value for Duration x 1 10 seconds The sound hasa lowertone if the Note value isLarger Type Note that Play Sound doesnot use the Note System as for Play Tune Page 176 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Play Tune 49 Argument Tune String String or Tips Address Play Tune will play a tune following modified RTTTL Ring Tone Transfer Language format rules Randomize Byte 59 Argument A Type Variable Byte Will load a pseudo random value between 0 and 255 into the Byte Variable A Read Analog Input 32 Argument Analog Port Read Value ve Constant Variable YP Byte Byte Read the current analog value from the specified port 1 6 into the variable Read Value Page 177 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Read Button 35 Argument Button No A Constant Byte ee Byte Vanable Checks the current status of the Director Buttons and sets Variable A to either 0 if the butt
117. ue DiceValue 1 DisplayNumber DiceValue Wait delay Button ReadButton UpButton Until Button lt gt 0 End Program As you can see we have added a third variable declaration Button added a ReadButton instruction and replaced the loop with an Do Until Statement The ReadButton statement fetches the value of the left hand Up Bbutton on the MotorVator and places it in variable Button The Until Statement checks to see if Button is not equal to Zero No Press and jumps back to the Do if so In other words if the button is not pressed keep looping until it is We have some final adjustments to our code and it is complete i Change the Delay declaration to 1 so we count faster ii and add a delay so we can see the number iii Convert the number to a range of 1 6 so we can use it as a dice value We do this with the X y MOD z command which divides Y by Z and places the remainer in X Page 77 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Begin Program Declare Word delay 1 Declare Byte DiceValue Declare Byte DiceDisplay Declare Byte Button Loop Do DiceValue DiceValue 1 DiceDisplay DiceValue Mod 6 Increment DiceDisplay DisplayNumber DiceDisplay Wait delay wait for 2 seconds Button ReadButton DownButton Until Button lt gt 0 Wait 500 End Loop End Program Now you have mastered the important basics Try some of the following changes yourself Experimenting li
118. up a Data Pointer from which to read Data Subsequent Read Data and Write Data instructions will read the data from the position pointed to by the Data Pointer then automatically increment the pointerto point to the next data value Page 182 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Set Event Watch 72 Argument Event Type Call Address Type Byte value Label The defined events are Event Number Event 4 On Button Pushed 5 Up Button Pushed 6 Down Button Pushed 9 Packet Received on Communications Port 10 Packet has been sent on Comms Port 11 On Off Input 1 has changed 12 On Off Input 2 has changed 13 On Off Input 3 has changed 14 On Off Input 4 has changed 15 Battery Voltage Now below 5 8V 16 Timed input 1 has changed 17 Timed input 2 has changed 18 Timed input 3 has changed 19 Timed input 4 has changed 20 User Defined Event 1 21 User Defined Event 2 22 User Defined Event 3 23 User Defined Event 4 24 User Defined Event 5 25 User Defined Event 6 26 User Defined Event 7 27 User Defined Event 8 Page 183 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Set Left LED 44 Argument Character Constant or Type Variable Byte Displaysthe Characteronto the Left LED Display on the MotorVator Characteris in the range of 0 9 A to Z only capital letters only supported Set Hag False 77 Argument Flag Constant or Type Variable Byte Set the value of the
119. uring construction Motor AB 3V 3Volts for Motors A and B T the CLI dt Motor CD 12V 12V for Motors C and D ae ender a PrN oN Action 6V 6V on Action Outputs 1 pass the MeccCode Interface Cable to a serial port on your PC N a a 2 Install and Run the MeccCode Compilerl on the included o run MotorVator CD 3 Select the View gt Options gt MotorVator menu item a 1 ait xi In most applications a single 9 12V supply into the Motor AB err Input Socket will be suitable L ser vd CO xi meccamsms ee ph oder co Lip FACE ta Ote F wa Page 25 Page 26 AmpWorks Limited 2003 2005 AmpWorks Limited 2003 2005 Motorvator 4 User Manual meccanismi MotorVator 4 User Manual meccanismi Select the Communications Port that you are connected to 9 The valid CLI Commands are If you are using a COM port other than COM1 through COM4 then enter the name e g COM5 in the Other Field Action Port Set the action Ports 5 Now Select the MotorVator gt Open Terminal Window Option P is port number 1 2 or 3 S is state 0 or 1 EOE on e g RETTE EEFT j A11 will turn Action Port 1 on A30 will turn Action Port 3 off si Il Clear User Will Clear Zero out all the User Program Program Space Use if your program has had Memory problems and potentially overwritten user space before reloading Debug User Enters a debug mode for your user Program program Allows you to Single Step your program i e execute one statement then sto
120. used to get the current can use the chassis of your Meccano model as a Common Earth and only have one wire from the microswitch back to the MotorVator with a connection from the chassis to one of the GND pins on at least one of the Input Ports The other Microswitch connector goes to the chassis to complete the circuit state 0 for Open 1 for Closed of each of the On Off Inputs There is also a variable READPULSECOUNTDIGITAL x command that will return the number of pulses since the last time you asked See Page 180 DO NOT CONNECT any signal that exceeds 5 Volts to A the signal pin Page 32 AmpWorks Limited 2003 2005 MotorVator 4 User Manual TIECCO US ITIS E g in this example we check to see whether a bumper switch on the front of our robot is closed e g have we run into something If it is then we will reverse Switch readonoff 1 If switch lt gt 0 then SetMotor 1 B speed Page 33 AmpWorks Limited 2003 2005 MotorVator 4 User Manual meccanismi Timed Inputs Layout Diagram 5 These two input ports allow you to get input from a 0 5V logic level device that provides both the current state of the input plus additional information about the length of the last pulse into these ports The Three pole connector on these ports provides 5V Ground and the Signal_In line Use the 5V to power compatible sensors DO NOT CONNECT any signal that J exceeds 5
121. xpansion module which read the current voltage reading for each port More Accessories For the Latest list of accessories visit www meccanisms com and www meccparts com see under Meccanisms gt Accessories Page 55 AmpWorks Limited 2003 2005 MotorVator 4 User Manual PILL Ll sfr MeccCode Il Software The most powerful aspect of the MotorVator is its ability to be programmed to perform complicated sequences of actions The programming of the MotorVator is done using the MeccCode language The following sections explain the concepts and the available instructions Before we look at the MeccCode language let s make sure that we re all on the same wavelength with the jargon and look at some definitions and concepts Definitions Compiler The program that converts human readable instructions source or programming language to machine language object code Source Code A human readable list containing instructions following a known format the programming language syntax that will be converted into Object Code by a Compiler Often call the program and written by a computer programmer Object Code A list of Machine readable values that instruct the machine in this case the MotorVator to do certain things Syntax The correct form of an instruction Think of it as Grammar for computers We tend to be able to understand English even if it is not writ proper Computers are much fussier to them it is
122. y prefer say something like go down this side of the street and put a newsletter into each box till you get to the end Now to do this we need to keep track of which mailboxes we ve already been past To do this we need to use the concept of a Pointer A pointer is just what is says a piece of information that points to another piece So to use our newsletter example we might say Start off at the first mailbox on this side of the street Put a newsletter into the mailbox that you re pointing at Now point to the next mailbox on this side Put a newsletter into the mailbox that you re pointing to Now point to the next mailbox on this side Put a newsletter into the mailbox that you re pointing to f we aren t at the end of the street keep going etc Page 66 AmpWorks Limited 2003 2006 MotorVator 4 r Manual Or to be more concise Start off at the first mailbox on this side of the street Repeat Put a newsletter into the mailbox that you re pointing at Now point to the next mailbox on this side Until at the end of the street We have instructions for managing pointers Newsletter Pointer SetDataPointer Mailbox1 is how we say Start off at Mailbox1 WriteData Newsletter pointer Newsletter is how we say put a newsletter into the mailbox pointed to by Newsletter pointer then go on and point to the next mailbox Looki

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