PIR Sensor and some bugs trackings

Hello

I was trying to get the PIR sensor working on my InMoov. I saw some method about it in InMoov.java but it was no worky.

Today I have dig into the code to found out what's going on and it look like it's stuck in a between state with the arduino MRLComm change. Things are not hard to fix, but i'm a bit confuse about wich way to go

 

I have manage to get it kinda worky, but not sure I have follow the right way. So i'm asking the captains for some guidance.

So here my comments about it

 public void startPIR(String port, int pin) throws IOException {
  speakBlocking(String.format("starting pee. eye. are. sensor on port %s pin %d", port, pin));
  if (arduinos.containsKey(port)) {
   Arduino arduino = arduinos.get(port);
   arduino.connect(port);
   arduino.setSampleRate(8000);
--> this do nothing, see comment about SampleRate
   arduino.digitalReadPollingStart(pin); --> Required some change in MRLComm to get worky, but never seem to trigger from here in my test
   pirPin = pin;
   arduino.addListener("publishPin", this.getName(), "publishPin"); --> This is working, but since digitalRead... is not, nothing happen

  } else {
   // FIXME - SHOULD ALLOW STARTUP AND LATER ACCESS VIA PORT ONCE OTHER
   // STARTS CHECK MAP FIRST
   log.error(String.format("%s arduino not found - start some other system first (head, arm, hand)", port));
  }

}

 

I have need to make a few change in MRLComm.ino to have it worky. The method for digitalReadPollingStart is all comment out and there is nothing reading digital pins.

I have add

#define SENSOR_TYPE_DIGITAL_PIN_READER 3
 
and duplicate the code for analogReadPolling, replacing word analog by digital
 
then set the SENSOR_MAX value to it's original value define by the board. The InMoov nervo board have PIR connected to pin 23 so it won't be working with SENSOR_MAX limited to 20
 
This is worky, but I was a bit confuse because there is a SENSOR_TYPE_PIN defined that may have been define for that purpose, but that is override by SENSOR_TYPE_ANALOG_PIN_READER
 
about arduino.digitalReadPollingStart(pin). It don't seem to do anything in the InMoov.java startPIR method.
I have try to start the digitalReadPolling from my inMoov python script using a service that share the arduino, but that still don't work. But if I wait that everything load up, then open a new python script and run the command: i01.mouthControl.arduino.digitalReadPollingStart(23), everything start to work like a charm (motor detaching after a time inactivity, and attaching when the PIR activate), but I really don't understand why it was not working in the InMoov.java and when set in my main script.
 
about SET_SAMPLE_RATE
the arduino.setSampleRate method set a variable in the MRLComm.ino, but that variable is not used anywhere in the code. the SENSOR_TYPE_ANALOG_PIN_READER (and the DIGITAL_PIN_READER that I have create) use pin.rateModulus to control the sample rate. I think pin.rateModulus is a better way to go, but there is no method to set it's value (except when defining PULSE sensor). By default it's set to 1 wich made the arduino report the reading of the pin every loop, that the value of the pin reading change or not.
 
Sorry for the very long post
 
Christian

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moz4r's picture

Hi ! I would liketo use it in

Hi ! I would liketo use it in MRL too !! Usefull to launch some robot reaction

I dedicated arduino for now

https://www.youtube.com/watch?v=j4-GPRrLFso

https://github.com/moz4r/pyrobotlab/blob/6cc0aaeb74feb4a0da9bfa1d77fb88c...

 

calamity's picture

Hi moz4r   this is the

Hi moz4r

 

this is the MRLComm I use to activate the digital read in MRL. It only report back when the value of the pin change (but for a PIR sensor that's what you need)

http://beliweb.net:8088/test/MRLComm32a.mod.txt

and my python script that I use to test it

from datetime import datetime
from time import sleep
arduino = Runtime.createAndStart("arduino","Arduino")
arduino.setBoardMega()
arduino.connect("COM15")
 
def pinData(pin):
       print str(pin.value)+"-"+str(pin.pin)
 
arduino.addListener("publishPin","python","pinData")
sleep(2)
arduino.digitalReadPollingStart(23)
 
I hope it help you
Christian