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Brightness sensor using SPI bus - Detect brightness through SPI bus


1. Start "SPL script editor for MSRDS" and add SPL simulation script
  1. Add script on the editor as follows.

       
    MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicsim.xml"

AddNewEntity    ent1  	/Position:1.5  0.3  0
AddBoxShape  	/Dimensions:0.6  0.8  2.0  	/Mass:100
	/DiffuseColor:0  0  0.2509804  1

AddNewEntity    ent2  	/Position:0  0.4  -1.5
AddBoxShape  	/Dimensions:2.0  0.8  0.6  	/Mass:100
	/DiffuseColor:1  1  0  1

AddNewEntity    ent3  	/Position:-1.5  0.4  0
AddBoxShape  	/Dimensions:0.6  0.8  2.0  	/Mass:100
	/DiffuseColor:0  1  0  1

AddDifferentialDriveEntity    base1

AddBrightnessSensorEntity    br1
	/Position:0  0.4  -0.3
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_bright

FlushScript  

procedure  proc_bright

	br = value.RawMeasurement	// 0.0 ~ 1.0
	br = br * 1000	//convert to 0 ~ 1000 unit
	
	print "Brightness: " + br
	
	//convert type as ushort
	br = Util.ToUShort(br)	
	
	emul1.SetSpiReadBufferUShort("spi1", br)
				
end 

procedure  proc_i2c_write
	
	if (value.Id == "i2c1")
	{
		command_type = value.ReceivedBytes[0]
		
		if (command_type == 1)
		{		
			distance = value.ReceivedBytes[1]
			power = value.ReceivedBytes[2]
	
			power = power - 100

			distance = Util.ToDouble(distance / 10.0)
			power = Util.ToDouble(power / 100.0)

			print "Distance -> " + distance.ToString() + " m / Power -> " + power.ToString()
			
			base1.GoTo(distance, power)
		}
		else if (command_type == 2)
		{		
			degrees = value.ReceivedBytes[1]
			power = value.ReceivedBytes[2]
	
			degrees = degrees - 100
			power = power - 100

			degrees = Util.ToDouble(degrees)
			power = Util.ToDouble(power / 100.0)

			print "Degrees -> " + degrees.ToString() + " / Power -> " + power.ToString()
			
			base1.Turn(degrees, power)
		}
		else if (command_type == 4)
		{		
			left_power = value.ReceivedBytes[1]
			right_power = value.ReceivedBytes[2]
	
			left_power = left_power - 100
			right_power = right_power - 100

			left_power = Util.ToDouble(left_power / 100.0)
			right_power = Util.ToDouble(right_power / 100.0)

			print "Left -> " + left_power.ToString() + " / Right -> " + right_power.ToString()
			
			base1.Go(left_power, right_power)
		}
	}

end
    		  


  2. Save script.

  3. Press "F5" key or click "Run" icon.



2. Add a new SPI bus named "spi1 " to detect Brightness sensor event
  1. Clear editor box of MF application.

  2. Add below script on the editor box of MF application.



       
    I2CDevice    i2c1
	/Address:58
	/ClockRateKhz:100

SPI    spi1
	/ChipSelect_Port:11
	/ChipSelect_ActiveState:false
	/ChipSelect_SetupTime:1
	/ChipSelect_HoldTime:1
	/Clock_IdleState:true
	/Clock_Edge:false
	/Clock_RateKhz:15000
	/SPI_Module:SPI1


wdata = Util.ToUShort(0x0000)		//just dumy data
readBuff = Util.CreateArrayUShort(1)

buff1 = Util.CreateArrayByte(3)

//turn left
buff1[0] = 4
buff1[1] = 90	//-0.1
buff1[2] = 110	//0.1

//make a robot move itselft
i2c1.Write(buff1)

//call procedure with the separate thread
call proc_read_bright with concur

procedure proc_read_bright

	while(true)
	{	
		spi1.WriteRead(wdata, readBuff)
	
		brightness = readBuff[0]
		
		print "Brightness: " + brightness
			
		wait 300
	}
	
end
    		  


  3. Click "Send to MF Application" button

  4. You can see the detected brightness value is printed on the consolewindow as robot moves.



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