[Go to list] 
 
Bumper sensor using GPIO - Add bumper sensor on the simulated mobile robot


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/basicenv4.xml"

AddDifferentialDriveEntity    base1

FlushScript
    		  



2. Add bumper sensor as follows.
  1. Add script on the editor as follows.



       
    MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicenv4.xml"

AddDifferentialDriveEntity    base1

AddBumperEntity    bumper1
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_bumper

FlushScript
    		  



3. Add procedure definition named "proc_bumper" for bumper event.
  1. Add script on the editor as follows.



       
    MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicenv4.xml"

AddDifferentialDriveEntity    base1

AddBumperEntity    bumper1
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_bumper

FlushScript  

Procedure  proc_bumper
	
	if (value.HardwareIdentifier == 0)
		emul1.SetGPIO("port5", value.Pressed)
	else if (value.HardwareIdentifier == 1)
		emul1.SetGPIO("port6", value.Pressed)

End
    		  



4. Add procedure definition named "proc_i2c_write" for MF emulator event.
  1. Add script on the editor as follows.



       
    MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicenv4.xml"

AddDifferentialDriveEntity    base1

AddBumperEntity    bumper1
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_bumper

FlushScript  

Procedure  proc_bumper
	
	if (value.HardwareIdentifier == 0)
		emul1.SetGPIO("port5", value.Pressed)
	else if (value.HardwareIdentifier == 1)
		emul1.SetGPIO("port6", value.Pressed)

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.
[Go to list]