Ok, so i have my sensor working with this script:
[code]’ ----- Program Description ]---------------------------------------------
’
’ This program demonstrates how to read the Sharp GP2D12 infrared analog output
’ detector with an Atom module and display the results in a terminal window.
’ Hardware Connections:
’ Atom Module Sharp Sensor
’ ------ --------------------------------
’ P16 Pin 1
’
'----- Variables ]------------------------------------------------------------
scanrange var word ’ A/D result variable
floating var float ’ Floating point math result storage
val var byte ’ Table conversion result storage
'---- Table Setup ] ----------------------------------------------------------
scantable bytetable 80,80,80,80,80,80,80,80,80,78, |
76,74,72,70,68,66,64,62,60,59, |
58,57,55,53,52,51,50,49,48,47, |
45,43,42,41,40,39,38,37,35,33, |
32,31,30,30,29,29,28,28,27,27, |
26,26,26,25,25,25,24,24,24,23, |
23,22,22,21,21,20,20,20,19,19, |
18,18,18,17,17,16,16,16,15,15, |
15,14,14,13,13,13,12,12,11,11, |
11,10,10,10,10,10,10,10,10,10
'---- Main Loop ] -----------------------------------------------------------
main
adin P19,scanrange ’ Read sensor value
if scanrange > 512 then ’ Test for obstacle to close to detector
serout s_out,I38400,“Too Close To Measure”, 13] ’ Send “Too Close” message
else
floating = tofloat( scanrange) / 5.12 ’ Limit value to <200 values
val = scantable(toint floating) ’ Convert A/D to measurement
debug [REAL floating," “,DEC val,13] ’ Output result to debug window
serout S_OUT,i38400,[REAL floating\2,” - “,DEC val,” cm",13]
endif ’ End If-Then-Else command
goto main ’ Loop back and get another reading[/code]
Now i want to add it in Xan’s code. I tried putting it right above the PS2 code but then it doesn’t react to the ps2 controller anymore.
I want the the hexapod to move back (legs stand still an body moves) when for example my hand goes forward. So about 30cm in between(all the time)
And then i want to make the bot STOP when there is something in the way. About 35cm
The rest of the code except the peace below, is already implemented. Now i just need to know where to put the code so it does it’s job without bugging the ps2 control.
[code] '---- Table Setup ] ----------------------------------------------------------
scantable bytetable 80,80,80,80,80,80,80,80,80,78, |
76,74,72,70,68,66,64,62,60,59, |
58,57,55,53,52,51,50,49,48,47, |
45,43,42,41,40,39,38,37,35,33, |
32,31,30,30,29,29,28,28,27,27, |
26,26,26,25,25,25,24,24,24,23, |
23,22,22,21,21,20,20,20,19,19, |
18,18,18,17,17,16,16,16,15,15, |
15,14,14,13,13,13,12,12,11,11, |
11,10,10,10,10,10,10,10,10,10
s_out,I38400,[TotalYBal = -10, 13] ’ Send “Too Close” message
else
floating = tofloat( scanrange) / 5.12 ’ Limit value to <200 values
val = scantable(toint floating) ’ Convert A/D to measurement
debug [REA; [SENSOR DATA CALCULATION]
SensorInput:
adin P19,scanrange ’ Read sensor value
if scanrange > 300 then ’ Test for obstacle to close to detector default and max =512
seroutL floating," “,DEC val,13] ’ Output result to debug window
serout S_OUT,i38400,[REAL floating\2,” - “,DEC val,” cm",13]
PAUSE 500
SOUND P9,[50\500]
endif [/code]
