Memory Errors

[AndyLindsay]

Library modules through 0.3.4 do not leave enough room to add subsystems to existing apps. For example, adding frequency_out to the IR remote example below causes a memory error, as does adding breadboard LED control to Roaming with Whiskers (also below).

1. Use Mu and parallax.py module
2. Remove the # from bot(22).frequency_out... and flash.
3. Click REPL and then press CTRL+D to enter restart with serial debugging.
4. REPL displays "Traceback (most recent call last): File "main", line 6 (or 3), in MemoryError:"

# IR_Remote_Control_Expanded.py

from parallax import *

# Adding this made the code too large.
# bot(22).frequency_out(300, 2000)

while True:
    num = bot(2).tv_remote()
    # Forward on button press 1
    if num == 1:
        bot(18).servo_speed(0)
        bot(19).servo_speed(-75)
        display.show(Image.ARROW_SE)
    elif num == 2:
        bot(18).servo_speed(75)
        bot(19).servo_speed(-75)
        display.show(Image.ARROW_S)
    elif num == 3:
        bot(18).servo_speed(75)
        bot(19).servo_speed(0)
        display.show(Image.ARROW_SW)
    elif num == 4:
        bot(18).servo_speed(-75)
        bot(19).servo_speed(-75)
        display.show(Image.ARROW_E)
    elif num == 5:
        bot(18).servo_speed(0)
        bot(19).servo_speed(0)
        display.show(Image.HAPPY)
    elif num == 6:
        bot(18).servo_speed(75)
        bot(19).servo_speed(75)
        display.show(Image.ARROW_W)
    elif num == 7:
        bot(18).servo_speed(0)
        bot(19).servo_speed(75)
        display.show(Image.ARROW_NE)
    elif num == 8:
        bot(18).servo_speed(-75)
        bot(19).servo_speed(75)
        display.show(Image.ARROW_N)
    elif num == 9:
        bot(18).servo_speed(-75)
        bot(19).servo_speed(0)
        display.show(Image.ARROW_NW)

# Whiskers_Roam_Expanded.py

from parallax import *

bot(22).frequency_out(300, 2000)

while True:
    left = bot(7).digital_read()
    right = bot(9).digital_read()

    if left == 1 and right == 1: #Go forward
        bot(18).servo_speed(75)
        bot(19).servo_speed(-75)
        display.show(Image.ARROW_S)
        bot(15).write_digital(0)
        bot(0).write_digital(0)
    elif left == 1 and right == 0: #Obstacle on right
        bot(18).servo_speed(-75)    #back up for 1s, turn left
        bot(19).servo_speed(75)
        display.show(Image.ARROW_N)
        bot(15).write_digital(0)
        bot(0).write_digital(1)
        sleep(1000)
        bot(18).servo_speed(-75)
        bot(19).servo_speed(-75)
        display.show(Image.ARROW_E)
        sleep(600)
    elif left == 0 and right ==1:  #Obstacle on left
        bot(18).servo_speed(-75)    #backup for 1s, turn right
        bot(19).servo_speed(75)
        display.show(Image.ARROW_N)
        bot(15).write_digital(1)
        bot(0).write_digital(0)
        sleep(1000)
        bot(18).servo_speed(75)
        bot(19).servo_speed(75)
        display.show(Image.ARROW_W)
        sleep(600)
    elif left == 0 and right == 0: #Obstacle on left + right
        bot(18).servo_speed(-75)    #backup for 1s, turn
        bot(19).servo_speed(75)
        display.show(Image.ARROW_N)
        bot(15).write_digital(1)
        bot(0).write_digital(1)
        sleep(1000)
        bot(18).servo_speed(75)
        bot(19).servo_speed(75)
        display.show(Image.ARROW_W)
        sleep(1000)

[AndyLindsay]

Addressed in cyberbot-0.3.7. See branch and zipped code.

[AndyLindsay]

The difference appears to be significant. I was able to add 23 frequency_out calls to IR_Remote_Control_Expanded.py. Also, the max number of maneuvers in Navitate_Routine_Long.py increased from 35 to 95. (Correction: 37 to 95.)