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Call NewLine Call Delay(0.25) Continue: Loop End Sub
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' ' Lifted from NetMedia BasicX code examples Sub TranslateSpace(ByVal Space As UnsignedInteger, _ ByRef BitValue As Integer, ByRef Success As Boolean) ' Translates the specified space into a binary digit. ' Each space must be within this range. Const MaxValue As Single = 1700.0E-6 Const MinValue As Single = 300.0E-6 ' This is the crossover point between binary 0 and 1. Const TripPoint As Single = 1000.0E-6 Const UnitConversion As Single = 135.63368E-9 ' => 1.0 / 7372800.0 Dim SpaceWidth As Single ' Convert to seconds. SpaceWidth = CSng(Space) * UnitConversion If (SpaceWidth < MinValue) Or (SpaceWidth > MaxValue) Then Success = False Exit Sub Else Success = True End If If (SpaceWidth > TripPoint) Then BitValue = 1 Else BitValue = 0 End If End Sub ' Sub Initialize() ' Wait for power to stabilize Call Delay(0.25) ' Used for serial port communications Call OpenSerialPort(1, 19200) End Sub
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Of critical importance is the Select Case structure, which compares the values that are returned from the remote. These were the actual numeric values obtained using the Sharp TV code setting mentioned earlier. If your universal remote doesn t support these same values, you can easily determine the correct values to use for each button press on the remote through the code in Listing 34.3, RemoteTest.Bas. (Only the Main subroutine is shown; the other routines in SharpRemote.Bas, given in Listing 34.2, are used as is.)
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LISTING 34.3 REMOTETEST.BAS.
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Sub Main() Dim I As Integer, Digit As Byte, Success As Boolean Dim BitValue As Integer, Value As Integer, Tx As String
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Call Initialize Do Call InputCapture(PulseTrain, MaxPulses, 0) I = 2 Digit = 1 Value = 0 Do Call TranslateSpace(PulseTrain(I), BitValue, Success) If (Success) Then Call PutI(BitValue) Value = Value * 2 Value = Value + BitValue Else GoTo Continue End If I = I + 2 Digit = Digit + 1 Loop While I <= (MaxPulses - 1) Call PutByte (9) Call PutI (Value) Call Delay(0.5) Call NewLine Continue: Loop End Sub
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When this program is run, pressing keys on the remote control should yield something like the following on the BasicX Development Program debug window:
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100001000000010 100000100000010 100001100000010 100000010000010 100001010000010 16898 16642 17154 16514 17026
The first set of numbers is the signal pattern as on/off bits. The second set is the numeric equivalent of that pattern. If you see a string of 0s or nothing happens, either the circuit isn t working correctly or the remote is not generating the proper format of signal patterns.
CONTROLLING ROBOT MOTORS WITH THE SHARPREMOTE.BAS PROGRAM
The SharpRemote.Bas program assumes that you re driving the traditional two-motor robot, using DC motors (as opposed to stepper or modified servo motors). To operate a robot, connect a suitable motor driver circuit to pins 17 through 20 of the BX-24 chip. You can use most any motor driver that uses two bits per motor. One bit controls the motor direction (0 is forward ; 1 is backward ), and another bit controls the motor s power (0 is off; 1 is on). 18, Working with DC Motors, presents a variety of motor drivers that you can use. Note: Whatever motor drivers you use make sure that you provide adequate bypass filtering. This prevents excess noise from appearing on the incoming signal line from the IR receiver-demodulator. DC motors, particularly the inexpensive kind, generate copious noise from radio frequency (RF) interference as well as hash in the power supply lines of the
COMMANDING A ROBOT WITH INFRARED REMOTE CONTROL 549
circuit. If you fail to use adequate filtering unpredictable behavior will result. Your best bet is to use opto-coupling, with completely separate battery power supplies for the microcontroller and IR electronics on the one hand and the motors and motor driver on the other. In SharpRemote.Bas, the following line,
Motors(1) = bx00000100 Motors(2) = bx00000101 [etc.]
set up the bit patterns to use for the four pins controlling the motors. Yes, the patterns show eight bits. We re only interested in the last four, so the first four are set to 0000. The bits are in DLDR format. That is, the left-most two bits control the left motor, and the rightmost two bits control the right motor. The D represents direction; and L and R represent left and right, as you d expect. After the program has received a code pattern from the remote, it reconstructs that pattern as a 16-bit word. This word is then translated into a numeric equivalent, which is then used in the Select Case structure, as in the following example:
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