Hi,

I need a little help ; I was sick so i just started today to try to use my ultrasonic sensor (SR04) with MRL but i didn't success because the function pulseIn isn't recognized by the arduino service  and i don't know how to do without it . can someone help me .

Grog ,i just seen on this page http://myrobotlab.org/content/attacknid-hack-robot-mrl that you speak about make a map of the environement . I'm very interested ! with my six sensors around the base of my robot, i must have a very good map ! 

thx

here is what i did :

from time import sleep

from org.myrobotlab.service import Arduino



# variables dependent on your setup
boardType = "atmega328"  # atmega168 | atmega328p | atmega2560 | atmega1280 | atmega32u4
comPort = "COM4" 
trigPin = 22
echoPin = 23

# create an Arduino service named arduino
arduino = runtime.createAndStart("arduino","Arduino")

# set the board type
arduino.setBoard(boardType) # atmega168 | mega2560 | etc

# set serial device
arduino.connect(comPort)
sleep(1) # give it a second for the serial device to get ready

# pins setup
arduino.pinMode(trigPin, arduino.OUTPUT);
arduino.pinMode(echoPin, arduino.INPUT);

# update the gui with configuration changes
arduino.publishState()

# calculate the distance
arduino.digitalWrite(trigPin, arduino.LOW) 
sleep(0.002); 
arduino.digitalWrite(trigPin, arduino.HIGH)
sleep(0.01); 
arduino.digitalWrite(trigPin, arduino.LOW)
duration = arduino.pulseIn(echoPin, arduino.HIGH) ERROR !

#Convert the distance (in cm) based on the speed of sound.
distance = duration/58.2

GroG

10 years 10 months ago

Beetlejuice !

Your back !

And I agree ! - We must build the Mapping !

I will implement pulseIn .. it will take a little time.  In the inerim can you post pictures of your robot, or of the 6 sensors you currently have?  Or do you have only 1 sensor?  In order to provide maximum help I need to know your setup.  

Currently, I'm still working on move from code.google.com to github.com :P  taking much longer than I expected, but right after I would like to do this & PIR.

beetlejuice

10 years 10 months ago

Here is some pictures wink

still miss the hands, and i must redo the head with the same wood than the body .

 

 

Front

 

Back

beetlejuice

10 years 10 months ago

Her is the code i'm testing without pulseIn, but the distance isn't right ...

import time
from time import sleep
from org.myrobotlab.service import Arduino



# variables dependent on your setup
boardType = "atmega2560"  # atmega168 | atmega328p | atmega2560 | atmega1280 | atmega32u4
comPort = "COM8" # com4 for atmega328 com8 for mega2560
trigPin = 22
echoPin = 23

# create an Arduino service named arduino
arduino = runtime.createAndStart("arduino","Arduino")

# set the board type
arduino.setBoard(boardType) # atmega168 | mega2560 | etc

# set serial device
arduino.connect(comPort)
sleep(1) # give it a second for the serial device to get ready

# pins setup
arduino.pinMode(trigPin, arduino.OUTPUT);
arduino.pinMode(echoPin, arduino.INPUT);

# update the gui with configuration changes
arduino.publishState()

# calculate the distance

# A couple of variables
# ---------------------
EXIT = 0                        # Infinite loop
pulsetrigger = 0.0001        # Trigger duration
timeout = 2100               # Number of loop iterations before timeout called


# Wait for 2 seconds to allow the ultrasonics to settle (probably not needed)
# ---------------------------------------------------------------------------
#print "Waiting for 2 seconds....."
#time.sleep(2)


# Go
# --
print "Running...."


# Never ending loop
# -----------------
while EXIT == 0:

        # Trigger high for 0.0001s then low
        
	arduino.digitalWrite(trigPin, arduino.HIGH)
	time.sleep(pulsetrigger)
	arduino.digitalWrite(trigPin, arduino.LOW)
	# Wait for echo to go high (or timeout)

	countdown = timeout

	while (arduino.digitalReadPollingStart(echoPin) == 0 and countdown > 0):
		countdown = countdown - 1

	# If echo is high

	if countdown > 0:

		# Start timer and init timeout countdown

		echostart = time.time()
		countdown = timeout

		# Wait for echo to go low (or timeout)

		while (arduino.digitalReadPollingStart(echoPin) == 1 and intcountdown > 0):
			countdown = countdown - 1

		# Stop timer
		arduino.digitalReadPollingStop(echoPin)
		echoend = time.time()


		# Echo duration

		echoduration = echoend - echostart
		print "duree  = " + str(echoduration)

	# Display distance

	if countdown > 0:
		distance = (echoduration*1000000)/58
		print "Distance = " + str(distance) + "cm"
	else:
		print "Distance - timeout"

        # Wait at least .01s before re trig (or in this case .1s)

        time.sleep(.1)


      
    
          
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