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Robot driving using I2C device - Stop driving


1. Start "SPL script editor for MSRDS" and add SPL simulation script
  1. Add below script on the editor (same script with the previous tutorial).

       
    MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicenv4.xml"

AddDifferentialDriveEntity    base1

FlushScript  

Procedure  proc_i2c_write
	
	if (value.Id == "i2c1")
	{
		left_power = value.ReceivedBytes[0]
		right_power = value.ReceivedBytes[1]
	
		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. Send data to emulator through I2C device
  1. Clear editor box of MF application.

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

       
    I2CDevice    i2c1
	/Address:58
	/ClockRateKhz:100

buff1 = Util.CreateArrayByte(2)
buff1[0] = 130
buff1[1] = 130

i2c1.Write(buff1)
    		  


  3. Value 130 will be converted as 0.3 in the MSRDS SPL procedure.

  4. Click "Send to MF Application" button



3. Make a robot stop
  1. Clear editor box of MF application.

  2. In order to make a robot stop, add below script on the editor box of MF application.

       
    buff1[0] = 100
buff1[1] = 100

i2c1.Write(buff1)
    		  


  3. Value 100 will be converted as 0.0 in the MSRDS SPL procedure.

  4. Click "Send to MF Application" button

  5. You can see a mobile robot stop.
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