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IR sensor using I2C device - Add IR sensor on the simulated mobile robot


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

       
    MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicenv4.xml"

AddDifferentialDriveEntity    base1

FlushScript
    		  



2. Add IR 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

AddInfraredRangeEntity    ir1
	/Position:0  0.4  -0.3
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_ir

FlushScript
    		  



3. Add procedure definition named "proc_ir" for IR sensor event.
  1. Add script on the editor as follows.



       
    MFEmulator    emul1
	/TargetEmulator:SPLMFConsoleEmulator
	/Procedure_I2CWrite:proc_i2c_write

StartSimulationEngine  "SimState/basicenv4.xml"

AddDifferentialDriveEntity    base1

AddInfraredRangeEntity    ir1
	/Position:0  0.4  -0.3
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_ir

FlushScript  

procedure  proc_ir
	
	distance = value.RawMeasurement	// 0.0 ~ 1.0 m
	distance = distance * 1000	//convert to 0 ~ 1000 cm unit
	
	print "IR Distance: " + distance
	
	//convert type as ushort
	distance = Util.ToUShort(distance)	
	
	//convert ushort to byte[2]
	sendBytes = Util.UShortToBytes(distance)
	
	emul1.SetI2CReadBuffer("i2c2", sendBytes)
	
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

AddInfraredRangeEntity    ir1
	/Position:0  0.4  -0.3
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_ir

FlushScript  

procedure  proc_ir
	
	distance = value.RawMeasurement	// 0.0 ~ 1.0 m
	distance = distance * 1000	//convert to 0 ~ 1000 cm unit
	
	print "IR Distance: " + distance
	
	//convert type as ushort
	distance = Util.ToUShort(distance)	
	
	//convert ushort to byte[2]
	sendBytes = Util.UShortToBytes(distance)
	
	emul1.SetI2CReadBuffer("i2c2", sendBytes)
	
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.

  4. Added IR sensor will be shown as follows.

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