Robot driving using I2C device - Repeat control commands sequentially

1. Start "SPL script editor for MSRDS" and add SPL simulation script

Add below script on the editor.

MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicenv4.xml"

AddDifferentialDriveEntity    base1

FlushScript

2. Add procedure lines on the end of lines

Add below script on the editor.

MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicenv4.xml"

AddDifferentialDriveEntity    base1

FlushScript  

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

Save script.

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

3. Convert I2C data into the degrees and power

In this tutorial, we will use three bytes to make the robot drive.
1. Byte[0] : 4 (Command type)
2. Byte[1] : Left power
3. Byte[2] : Right power

And also below three bytes will be used to make the robot turn.
1. Byte[0] : 2 (Command type)
2. Byte[1] : Degrees
3. Byte[2] : Motor power

First byte is the command type and will be used to classify each drive command.
1. 1 : GoTo
2. 2 : Turn
3. 3 : GoFor
4. 4 : Go
5. 5 : Stop

4. Send data for repeated turning and going

Clear editor box of MF application.

In order to repeat turning and going, add below script on the editor box of MF application.

I2CDevice    i2c1
	/Address:58
	/ClockRateKhz:100


buff1 = Util.CreateArrayByte(3)

while (true)
{
	//turn
	buff1[0] = 2
	buff1[1] = 190	//90 degrees
	buff1[2] = 130	//power is 0.3

	i2c1.Write(buff1)	
	
	wait 1000

	//go
	buff1[0] = 4
	buff1[1] = 120	//0.2
	buff1[2] = 120	//0.2

	i2c1.Write(buff1)	
	
	wait 1000
}

Click "Send to MF Application" button

You can see a mobile robot repeats turning and going.

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