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Brightness sensor using SPI bus - Robot control with brightness detection


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 device named "spi1" and reaction logic for the Color 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

	bool stopFlag = false
	
	while(!stopFlag)
	{	
		spi1.WriteRead(wdata, readBuff)
	
		brightness = readBuff[0]
		
		if (brightness > 200 && brightness < 300)
		{
			//stop
			buff1[0] = 4
			buff1[1] = 100	//0.0
			buff1[2] = 100	//0.0

			i2c1.Write(buff1)

			print "Found blue box."
			
			stopFlag = true
		}
			
		wait 300
	}
	
end
    		  


  3. Click "Send to MF Application" button

  4. You can see a mobile robot stop when the robot faces blue box.



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