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IR sensor using I2C device - Detect IR distance through I2C device


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

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.



2. Add a new I2C device named "i2c2" to detect IR 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

//New I2C device for detection of IR sensor
I2CDevice    i2c2
	/Address:60
	/ClockRateKhz:100


buff1 = Util.CreateArrayByte(3)

//go forwards
buff1[0] = 4
buff1[1] = 110	//0.1
buff1[2] = 110	//0.1

//make a robot move itselft
i2c1.Write(buff1)

//call procedure with the separate thread
call proc_read_ir with concur

procedure proc_read_ir

	while(true)
	{	
		rBuff = Util.CreateArrayByte(2)
		
		i2c2.Read(rBuff)
	
		distance = Util.BytesToUShort(rBuff)
		
		print "Distance: " + distance
			
		wait 300
	}
	
end
    		  


  3. Click "Send to MF Application" button

  4. You can see the detected distance of IR sensor is printed on the consolewindow as robot moves.



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