Basic Stamp Programming Examples
This section covers some example programming code for all the Infrared Control Freak command codes. The code is written for a Basic Stamo (BS2)
Output results are in decimal formats. However if you replace the 03x with a 04x, the outputs will be in ASCII format (i.e. for direct connect to Terminal screen)
|
Command Code |
Mode
Name |
Description |
|
020 |
ZAP_MESSAGE |
Transmit IR Device and Button Codes to other robots |
|
030 |
IR REMOTE CONTROL |
Receive
Sony (SIRC) IR commands and output results to serial port as two-bytes in
Decimal format |
| 031 | N/A |
|
|
032 |
ONE-SHOT IRPD |
One
shot proximity sensing. 6 bytes of serial data are transmitted with
proximity information. |
|
033 |
N/A |
|
|
034 |
FREEWHEELER |
6 bytes of serial data are transmitted with proximity information in a Send a continuous stream of data. This is used for debugging or for . |
|
035 |
AUTOPILOT |
Fuzzy
logic results are sent as two bytes of data to serial port. These depict
the direction of the nearest obstacle and distance. |
|
036 |
BEACON |
This
command searches for Sony (SIRC) infrared transmission on all 3 sensors
and returns with which sensor received the highest number of IR 'hits'.
|
| 037 | LIGHT SENSOR | Used with Infrared Control Freak 'Light' version that has built-in Light sensors. Command return with Left & Right readings on |
| 038 |
SWEEP
(not implemented yet) |
This command sweeps up and down various IR modulation frequencies to obtain a 'zone' in which the obstacles are located. |
COMMAND 032 ONE-SHOT IPRD
The Basic Stamp program below will trigger the Infrared Control Freak (IR-CF) into the ONE-SHOT IRPD. In this command IR-CF will send 100 pulses on the left and right IR LED's. IR-CF will then check on each sensor for reading of obstacles.
The measured results are sent as 6 bytes of data. The values will be in the range 0-100. The value 0 = the sensor has not detected any obstacle. On the other extreme, a value of 100 = that the obstacle is almost about to collide with the IR-CF.
The first two bytes are the results from the right sensor. The first byte is the measured hits from the Right LED and the second byte is the number of hits from the LEFT LED. Unless the obstacle is extremely close, the right sensor should not actually 'sense' any 'hits' from the LEFT LED. As depicted in diagram below the obstacle will be sensed only on the left and middle sensors.
The sequence of Bytes returned to the Basic stamp are:
|
RIGHT
SENSORS |
MIDDLE
SENSOR |
LEFT
SENSOR |
|||
|
RHITS_R |
RHITS_L |
MHITS_R |
MHITS_L |
LHITS_R |
LHITS_R |
The most important bytes to measure are 1, 3,4 & 5.
Simple Programming
See below how simple it is to interface to the IR-CF using the Basic Stamp. Just a few lines of code and you'll be up and running:
_________________
'{$STAMP BS2}
'Test Command 032 - Single Shot
RX VAR BYTE(5)
DATA_ARRAY VAR BYTE
'***************************
'* MAIN PROGRAM *
'***************************
MAIN:
GOSUB COMMAND_0
32GOTO MAIN
'***************************
'* SUBROUTINES *
'***************************
COMMAND_032:
SEROUT 2, 16468, [
32]FOR DATA_ARRAY=1 to 13
SERIN 4, 16468,1000,time_out, [RX(DATA_ARRAY)]
NEXT
FOR DATA_ARRAY = 1 to 13
DEBUG dec RX(DATA_ARRAY), " "
NEXT
DEBUG CR
debug "____________________________",cr
RETURN
TIME_OUT:
DEBUG "TIMED OUT", CR
RETURN
________________________________
COMMAND 035 AUTOPILOT