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FIGURE 16-6 Sony remote control packet start leader and data bit specification.
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16.3 COMMANDING A ROBOT WITH INFRARED REMOTE CONTROL
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IF (i < 0.75ms) THEN ' "1" RemoteCode = (RemoteCode << 1) + 1 ELSE ' "0" RemoteCode = (RemoteCode << 1) ENDIF j = j + 1 ' Increment Bit Counter ENDIF LOOP IF (j < 100) THEN Use Valid "RemoteCode" to Perform the Next Robot Action ENDIF LOOP
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Note that for making the code easier to understand, the counter values are assumed to be directly converted to time values. This is an unreasonable assumption; in a typical application, a free running clock would be reset before each DO WHILE loop and its value used for the comparison afterward. Timing values explicitly, while working quite well, is difficult to use with a robot. There is a lot of overhead devoted to receiving the signal and it can be very difficult to time the entire application (especially if a PWM is used to control the motor speeds). A better way is to use interrupts to produce a virtual IR receive port using code like:
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' ' Sony Remote Control Receiver Operation Method 2 Use Interrupts for IR Receiver Pin Changing State and Timer Overflow RemoteCode = 0 ' Initialize Interrupt Handler Variables j = 0 ' Bit Counter Enable Free Running Timer Enable Interrupts for Pin Changing State DO
' Mainline Code DO WHILE (RemoteCode = 0) : LOOP ' Wait for Remote Signal SWITCH (RemoteCode) ' Respond to the Remote Code Value CASE Forwards: Motors = Forwards RemoteCode = 0' Clear Remote Code for Next Value CASE Reverse: : ENDSWITCH LOOP ' Interrupt Handler Code Interrupt PROCEDURE() IF (TimerOverFlow) THEN ' Timer Overflowed, Too Long for Data Bit j = 0 ' Reset Counter TimerInterrupt = Disable ELSE IF (j = 0) THEN ' Leader Going Low j = 13 ' Want to Time the Leader TempCode = 0 ' Reset the Temporary Code Value Timer = 0 ' Reset the Timer TimerInterrupt = Enable ' Enable Timer Interrupts ELSE IF (j = 13) THEN ' Check Leader Timing TimerInterrupt = Disable IF ((Timer < 2.0ms) OR (Timer > 2.4ms)) THEN
REMOTE CONTROL SYSTEMS
j = 0 ' Error, Wait for Next Packet ELSE j = 12 ' Can Start Reading Bit ENDIF ELSE ' Check Data Bits IF (InputPin = 0) THEN ' Synch Pulse low Timer = 0 TimerInterrupt = Disable ELSE ' Read Bit Value TimerInterrupt = Disable IF ((Timer < 0.4ms) OR (Timer > 1.3ms)) THEN j = 0 ' Invalid Bit ELSE IF (Timer < 0.75ms) THEN TempCode = (TempCode << 1) + 1 ELSE TempCode = (TempCode << 1) ENDIF j = j - 1 IF (j = 0) THEN ' Have Read the Packet RemoteCode = TempCode ENDIF ENDIF ENDIF ENDIF ENDIF ENDIF END Interrupt PROCEDURE
In this interrupt example code, the code does not do anything while waiting for a new RemoteCode value. In actuality, other tasks can be running in the mainline, and RemoteCode can be polled periodically to see if it has changed from zero to a code value. The interrupt code also checks for invalid data bit values, which minimizes the amount of effort the mainline code has to expend determining whether a packet is valid; the mainline just has to compare RemoteCode to the robot s operational values.
16.3.2 BS2 INTERFACE
After reviewing the code in the previous section, you have probably come to the conclusion that the BASIC Stamp 2 cannot read the packets from infrared remote controls. Trying to decode the data using PBASIC statements isn t possible because of the 250 s statement execution time, but it is possible to add hardware to the BS2 as shown in Fig. 16-7, which performs the decoding for the BS2 and stores the value in a 12 bit serial to parallel decoder that can be read by the BS2. The parts list for the circuit in Fig. 16-7 is in Table 16-3. The IR receiver (IC1) in the circuit passes the demodulated remote control signals to the trigger input of the 74LS123 as well as the data pin of one of the D-flip flops. When the incoming signal goes low, the 74LS123 single shot produces an 800 s long pulse, which latches in the data bit along with shifting the contents of all the daisy-chained D-flip flops down. If the data bit is a 1 when the bit is latched into the bit, the next synch pulse will be active and a 1 will be latched in, otherwise the data bit will still be low and a 0 will be latched in. The 2.2 ms leader will be read as a zero and then the data will be shifted through and out of the 12 D-flip flop shift register.
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