vb.net barcode reader source code COMMANDING A ROBOT WITH INFRARED REMOTE CONTROL in Software

Generation Quick Response Code in Software COMMANDING A ROBOT WITH INFRARED REMOTE CONTROL

16.3 COMMANDING A ROBOT WITH INFRARED REMOTE CONTROL
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TABLE 16-4 BUTTON 1 2 3 4 5 6 7 8 9 10
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Sony TV Infrared Remote Control Codes CODE 0xFEF 0x7EF 0xBEF 0x3EF 0xDEF 0x5EF 0x9EF 0x1EF 0xEEF 0x6EF BUTTON Power Volume up Volume down Channel up Channel down Arrow up Arrow down Arrow left Arrow right OK CODE 0x56F 0xB6F 0x36F 0xF6F 0x76F 0xD0F 0x50F 0xD2F 0x32F 0x58F
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packet was received, beyond the time for the next packet to be received in the expectation that the next was accidentally lost and subsequent ones will continue the operation. This is the mode that is used in robots to control the motors. To illustrate what is being discussed here, consider a typical situation. The motors move the robot forward when a packet is received and stop when the expected time (50 ms) has gone by without a repeated signal. The motors are turned off. This is a very simple example. For a real-world situation, all the codes would be tested and the motors would command the robot to move forward, reverse, turn left, turn right, etc. In a real robot, motor PWMs would also be active, controlling the speed at which the robot moves.
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' ' Remote Control Motor Example 1 Turn Off Motors when Expected Signal Packet is Missed DO IF (RemoteSignal = RobotForwards) THEN Motors = Forwards ' Forwards Signal Received RemoteSignal = 0 ' Reset Command PAUSE 50 ' Wait for Next Expected Signal ELSE ' Signal NOT Received Motors = Stop ' Turn off Motors and Wait for Next ENDIF LOOP
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The problems with this method of controlling motors are (a) if a packet is missed, the motors will be stopped, periodically resulting in either the robot shuddering or a PWM action taking place, resulting in less power to move the robot; and (b) if there is a mistiming between the microcontroller and the remote control, the remote signal will be missed, resulting in the motors being off for some period of time, again producing a PWM action and lowering the amount of power available from the drive motors. Note that the
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REMOTE CONTROL SYSTEMS
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packet received variable RemoteSignal is reset to ensure that any subsequent values of RobotForwards have been newly received and are not saved values from previous data receptions. To prevent these issues, you can plan for missed packets by running the motors for longer than the time between packets. Many applications use three or four packet delays to ensure the robot is active while it is being commanded.
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' ' Remote Control Motor Example 2 Run Motors past expected reception of next Signal Packet SignalCount = 0 ' Reset Timer DO IF (SignalCount <> 0) THEN ' Run Motors if Something There Motors = Forwards SignalCount = SignalCount - 1 ELSE ' Signal NOT Received Motors = Stop ' Turn off Motors and Wait for Next ENDIF IF (RemoteSignal = RobotForwards) THEN SignalCount = 15 ' Run for three Packet Intervals RemoteSignal = 0 ' Reset Command ENDIF PAUSE 10 LOOP ' Wait 10 ms before repeating
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In the second example code the SignalCount variable is reset to 15 (three packet intervals in 10 ms increments) every time a RobotForwards packet is received. Along with eliminating the potential shuddering or lowered power operation of the motors, the time available in the PAUSE 10 statement could be put to use for running sensors or expanding the program to accept different inputs and perform different operations. The first example application does not allow itself to be expanded as easily.
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16.3.4 GOING FURTHER
Regardless of which microcontroller or computer system you prefer, or maybe you don t want to use the signal patterns for Sony TVs and VCRs, you can adapt the receiverdemodulator interface and the software presented in this chapter for use with a wide variety of controllers, computers, and signal pattern formats. Of course, you ll need to revise the hardware and the program as necessary, and determine the proper bit patterns to use. You will probably find that the signal patterns used with a great many kind of remote controls will be usable with the circuitry and programs shown in this chapter. Often, you will merely need to test the remote to determine the values to use for each button press. The hardware and software will still work even if the signal from the remote contains more data bits than the 12 provided. For this application, if more bits are sent to the shift registers, the first bits coming through are discarded, which usually doesn t matter you re not trying to control a TV or VCR but your own robot, and the code values for its control are up to us. The only requirement is that each button on the remote must produce a unique value.
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