while(1)
{
freq=0;
for (i=0; i<100; i++) {
count72kHz=0; // This counter is incremented in timer interrupt
FrontLED(OFF);
while (count72kHz<72) {
// Detect level change
newlevel = PIND & (1<<2);
if (oldlevel != newlevel) {
oldlevel = newlevel;
freq++;
FrontLED(ON);
}
}
}
sprintf(s,"%5d\n\r",freq);
SerWrite(s,7);
}
return 0;
}
2.7 The debugging procedure
If the system does not work as expected, we will have to start the debugging procedure.
Unfortunately we cannot provide as many debugging options as for the basic ASURO-system. The
use of a multimeter may help to debug the system.
●
Please start by checking the correct compilation of the test program. Has the program really
been flashed? Proceed by checking the soldering locations and the polarities and values for
the components.
●
Check the connections of the coil system for correct removing of the isolations and applying
the solder. Did you really remove the isolation? At a
deactivated
(!) robot you should be able
to monitor a resistance of 30Ω at the terminals for the coil.
At much higher measured resistor values, the cable has not been connected correctly, some
isolation at the copper cable has not been removed properly – preventing good conductivity
- or the thin copper wire of the coil has been disrupted at the assembly phase. The last
problem often occurs in the neighbourhood of the capacitor.
At much lower measured resistor values, you may locate a short circuit at the printed circuit
board or in the coil. You are now advised to remove the cable from the screw terminal and to
repeat the measurement of the resistance value at the screw terminal. If the resistance is
much higher than 30 Ohms, you may locate the short circuit area at the coil module.
●
At an activated robot you should be able to monitor an operating voltage in the range 4.5 ..
5.5V between the terminals GNDOUT1 and VCCOUT1. If the operating voltage does not
meet these specifications the battery may be empty, the robot may be deactivated, the
connections for the battery compartment may be interrupted or a cold soldering point occurs
in the neighbourhood of the rear extended plugs at the extension board or the robot itself.
●
The voltage for the operational amplifier may be monitored between pin 4 (minus) (at the
bottom left side if the mark at the IC is at the topside) and pin 8 (plus) (at the top right side).
The voltage should be at least 2V higher than the battery voltage.
Test Equipment Depot - 800.517.8431 - 99 Washington Street Melrose, MA 02176
