bluetooth communication
MrTurner
Posts: 5
Hi all!
I'm using this code on my boebot:
'
[ Title ]
' File: BoeBotControlForMsrs.bs2
' {$STAMP BS2}
' {$PBASIC 2.5}
'
[ DATA ]
ResetOnOff DATA 0 ' On/off toggle w/ Reset button
RequestConnect DATA $FF, 0, 1, 0, 0
ConnectionGranted DATA $FF, 0, 2, 0, 0
RequestCommand DATA $FF, 0, 3, 0, 0
ServoSpeeds DATA $FF, 0, 4, 0, 0
'
[ Variables ]
tLeft VAR Word ' Servo control pulse durations
tRight VAR Word
temp VAR Word ' Temp variable
' Buffer array not declared as buffer VAR Word(5) for SERIN functionality.
' It can still be accessed as buffer(0), buffer(1), etc. However,
' buffer0, buffer1, etc. should be used in SERIN commands with variations
' of WAIT.
buffer0 VAR Byte ' Buffer - Start char = $ff
buffer1 VAR Byte ' Message Index value
buffer2 VAR Byte ' Command
buffer3 VAR Byte ' Argument 1 (return data 1)
buffer4 VAR Byte ' Argument 2 (return data 2)
buffer VAR buffer0 ' For standard array indexing
duration VAR Byte ' 50ths of ms duration
frequency VAR Byte ' 50ths of frequency
pointer VAR Byte ' EEPROM pointer
msgIndex VAR Byte ' EEPROM message index
routine VAR Nib ' Routine selector
counter VAR Nib
index VAR Nib
flagWhiskers VAR Bit ' Act on Whisker values
flagDigSens VAR Bit ' Send back digital sensors 1/0s
' with every reply
flagIr VAR Bit '
tempBit VAR Bit
'
[ Initialization ]
' This code makes it possible to toggle the Boe-Bot on/off by pressing and
' releasing the Board of Education's Reset button.
Program_Start:
' For on/off toggle with Reset
' READ ResetOnOff, temp
' temp = temp + 1
' WRITE ResetOnOff, temp
' IF temp.BIT0 = 0 THEN
' FREQOUT 4, 1000, 2000 - Indicate inactive
' END
' ENDIF
FREQOUT 4, 75, 4500
Reset:
'Wait for the eb500 radio to be ready.
PAUSE 1000
'Wait for the EB500 Bluetooth connection to be established.
DO UNTIL IN5 = 1: LOOP
GOSUB Ram_Clear
Request_Connect:
pointer = RequestConnect
GOSUB Get_Packet
SEROUT 1, 84, [STR buffer \5]
Confirm_Connect:
pointer = ConnectionGranted
GOSUB Get_Packet
Wait_For_Confirm:
SEROUT 1, 84, [255, 0, 1, 0, 0]
SERIN 0, 84, 20, Wait_For_Confirm, [WAITSTR buffer \2, buffer2, buffer3, buffer4]
Request_Packet:
msgIndex = msgIndex + 1
pointer = RequestCommand
GOSUB Get_Packet
SEROUT 1, 84, [STR buffer \5]
'
[ Main Routine ]
DO
Resume: ' If Message not rcvd, try again
IF IN5 = 0 THEN Reset ' EB500 disconnected?
PULSOUT 13, tLeft ' Servo control pulses
PULSOUT 12, tRight
SERIN 0, 84, 5, Resume, ' Get next command
[WAITSTR buffer \ 2, buffer2,
buffer3, buffer4]
PULSOUT 13, tLeft ' Servo control pulses again
PULSOUT 12, tRight
IF buffer2 = 192 THEN ' Handle restart req from PC
msgIndex = 0
GOTO Request_Connect
ENDIF
LOOKDOWN buffer2,[32, 33,
64, 65,
96, 97, 98,
128, 129, 130,
160, 161, 162], routine
ON routine GOSUB Set_Servo_Speed, Maneuver,
Get_Ir, Get_Whiskers,
Speaker_Tone, Set_Pins, Delay,
Enable_Digital_Sensors, Enable_Ir, Enable_Whiskers,
Disable_Digital_Sensors, Disable_Ir, Disable_Whiskers
' Load digital sensor values into buffer byte 3 for return message.
IF flagDigSens = 1 THEN GOSUB Digital_Sensors
' Increment message index for reply. Next message from PC has to use
' reply's buf[1].
msgIndex = msgIndex + 1
buffer1 = msgIndex
SEROUT 1, 84, [STR buffer \5]
LOOP
'
[ Subroutine Digital_Sensors ]
' This subroutine is used by the main routine to return digital sensor values
' with each reply.
Digital_Sensors:
buffer3 = 0
GOSUB Get_Ir
GOSUB Get_Whiskers
IF ((buffer3.BIT2 = 0 OR buffer3.BIT3 = 0) AND (flagWhiskers = 1)) THEN
tLeft = tLeft MAX 750
tRight = tRight MIN 750
ENDIF
RETURN
'
[ Subroutine Set_Servo_Speed ]
' Range of 0 to 200 with 100 = stopped maps to 650 to 850 with 750 stopped.
Set_Servo_Speed:
tLeft = buffer3 + 650 ' Decode servo speed.
tRight = buffer4 + 650
RETURN
'
[ Subroutine Speaker_Tone ]
Speaker_Tone:
duration = buffer3 ' Decode speaker tone
frequency = buffer4
FREQOUT 4, duration * 50, frequency * 50 ' Transmit tone
RETURN ' Go to resume routine
'
[ Subroutine Get_Ir ]
' IR object detection for buf[3] bits 1 (left) and 0 (right).
Get_Ir:
' IF flagIr THEN
FREQOUT 9, 1, 38500 ' IR headlight
tempBit = IN10 ' IR receiver
buffer3.BIT1 = tempBit ' Left IR reply bit
FREQOUT 3, 1, 38500
tempBit = IN2
buffer3.BIT0 = tempBit
' ENDIF
RETURN
'
[ Subroutine Get_Packet ]
' Loads packet into buffer for transmitting. Used by initialization.
Get_Packet:
FOR index = 0 TO 4
READ pointer + index, buffer(index)
NEXT
buffer(1) = msgIndex
RETURN
'
[ Subroutine Display_Command ]
' For debugging.
Display_Command:
' FOR index = 0 TO 4
' DEBUG DEC buffer(index), CR
' NEXT
RETURN
'
[ Subroutine - Check_Whiskers ]
' Stores left and right wiskers (contact switches) for buf[3] bit 3 (left) and
' 2 (right).
Get_Whiskers:
'IF FlagWhiskers THEN
buffer3.BIT3 = IN7 ' Left whisker
buffer3.BIT2 = IN8 ' Right whisker
'ENDIF
RETURN
'
[ Subroutine - Set_Pins ]
' Sets up to two pins. buf[3] high nibble specifies the operation, and the
' low nibble specifies the pin. The same applies to buf[4].
' High nibble:
' 0 - no action
' 1 - set to output
' 2 - set to input
' 3 - set to (output-high)
' 4 - set to (output-low)
' Low Nibble:
' 0 to 15 - Specifies I/O pin.
' DO NOT try to set 0, 1, 5, or 6.
Set_Pins:
temp.NIB1 = buffer3.HIGHNIB
temp.NIB0 = buffer3.LOWNIB
GOSUB Op_Pins
temp.NIB1 = buffer4.HIGHNIB
temp.NIB0 = buffer4.LOWNIB
GOSUB Op_Pins
RETURN
Op_pins:
SELECT temp.NIB1
CASE 1
OUTPUT temp.NIB0
CASE 2
INPUT temp.NIB0
CASE 3
HIGH temp.NIB0
CASE 4
LOW temp.NIB0
ENDSELECT
RETURN
'
[ Subroutine - Delay ]
' Specify delay in ms.
Delay:
temp.LOWBYTE = buffer3
temp.HIGHBYTE = buffer4
PAUSE temp
RETURN
'
[ Subroutine - Enable_Digital_Sensors ]
' Causes program to put digital sensor values in buf[3] of the reply packet.
Enable_Digital_Sensors:
FlagDigSens = 1
RETURN
'
[ Subroutine - Disable_Digital_Sensors ]
' Causes program to put digital sensor values in buf[3] of the reply packet.
Disable_Digital_Sensors:
FlagDigSens = 0
RETURN
'
[ Subroutine Enable_Whiskers ]
' Causes program to stop the Boe-Bot if Whisker contact is sensed. This gives
' the PC bluetooth system time to reply.
Enable_Whiskers:
flagWhiskers = 1
RETURN
'
[ Subroutine Disable_Whiskers ]
' Causes program to ignore the whisker contact. Also ignores when they are
' not connected.
Disable_Whiskers:
flagWhiskers = 0
RETURN
'
[ Subroutine Enable_Ir ]
' Not implemented.
Enable_Ir:
flagIr = 1
RETURN
'
[ Subroutine Enable_Whiskers ]
' Not implemented.
Disable_Ir:
flagIr = 0
RETURN
'
[ Subroutine - Maneuver ]
' Preprogrammed maneuver example. Current setup allows:
' "U" - Back up then U-turn
' "R" - Back up then right turn
' "L" - Back up then left turn
Maneuver:
FOR temp = 0 TO 35
PULSOUT 13, 650
PULSOUT 12, 850
PAUSE 20
NEXT
SELECT buffer3
CASE "U"
FOR temp = 0 TO 40
PULSOUT 13, 650
PULSOUT 12, 650
PAUSE 20
NEXT
CASE "R"
FOR temp = 0 TO 20
PULSOUT 13, 850
PULSOUT 12, 850
PAUSE 20
NEXT
CASE "L"
FOR temp = 0 TO 20
PULSOUT 13, 650
PULSOUT 12, 650
PAUSE 20
NEXT
ENDSELECT
RETURN
'
[ Subroutine Ram_Clear ]
' Clears ram for reset from PC. This prevents retaining the msgIndex and
' pulseLeft/right variable values, which would otherwise cause problems.
Ram_Clear:
W0 = 0
W1 = 0
W2 = 0
W3 = 0
W4 = 0
W5 = 0
W6 = 0
W7 = 0
W8 = 0
W9 = 0
W10 = 0
W11 = 0
W12 = 0
RETURN
Is there a problem in this code? I can't comunicate with it in java language. I send handshake, and then read until I get 5 bytes. Boebot sends me: 255 0 1 0 0. I Try to send it 255 0 2 0 0 to confirm, and I'm waiting for 255 0 3 0 0, but it keeps sending me back 255 0 1 0 0
I'm using this code on my boebot:
'
[ Title ]
' File: BoeBotControlForMsrs.bs2
' {$STAMP BS2}
' {$PBASIC 2.5}
'
[ DATA ]
ResetOnOff DATA 0 ' On/off toggle w/ Reset button
RequestConnect DATA $FF, 0, 1, 0, 0
ConnectionGranted DATA $FF, 0, 2, 0, 0
RequestCommand DATA $FF, 0, 3, 0, 0
ServoSpeeds DATA $FF, 0, 4, 0, 0
'
[ Variables ]
tLeft VAR Word ' Servo control pulse durations
tRight VAR Word
temp VAR Word ' Temp variable
' Buffer array not declared as buffer VAR Word(5) for SERIN functionality.
' It can still be accessed as buffer(0), buffer(1), etc. However,
' buffer0, buffer1, etc. should be used in SERIN commands with variations
' of WAIT.
buffer0 VAR Byte ' Buffer - Start char = $ff
buffer1 VAR Byte ' Message Index value
buffer2 VAR Byte ' Command
buffer3 VAR Byte ' Argument 1 (return data 1)
buffer4 VAR Byte ' Argument 2 (return data 2)
buffer VAR buffer0 ' For standard array indexing
duration VAR Byte ' 50ths of ms duration
frequency VAR Byte ' 50ths of frequency
pointer VAR Byte ' EEPROM pointer
msgIndex VAR Byte ' EEPROM message index
routine VAR Nib ' Routine selector
counter VAR Nib
index VAR Nib
flagWhiskers VAR Bit ' Act on Whisker values
flagDigSens VAR Bit ' Send back digital sensors 1/0s
' with every reply
flagIr VAR Bit '
tempBit VAR Bit
'
[ Initialization ]
' This code makes it possible to toggle the Boe-Bot on/off by pressing and
' releasing the Board of Education's Reset button.
Program_Start:
' For on/off toggle with Reset
' READ ResetOnOff, temp
' temp = temp + 1
' WRITE ResetOnOff, temp
' IF temp.BIT0 = 0 THEN
' FREQOUT 4, 1000, 2000 - Indicate inactive
' END
' ENDIF
FREQOUT 4, 75, 4500
Reset:
'Wait for the eb500 radio to be ready.
PAUSE 1000
'Wait for the EB500 Bluetooth connection to be established.
DO UNTIL IN5 = 1: LOOP
GOSUB Ram_Clear
Request_Connect:
pointer = RequestConnect
GOSUB Get_Packet
SEROUT 1, 84, [STR buffer \5]
Confirm_Connect:
pointer = ConnectionGranted
GOSUB Get_Packet
Wait_For_Confirm:
SEROUT 1, 84, [255, 0, 1, 0, 0]
SERIN 0, 84, 20, Wait_For_Confirm, [WAITSTR buffer \2, buffer2, buffer3, buffer4]
Request_Packet:
msgIndex = msgIndex + 1
pointer = RequestCommand
GOSUB Get_Packet
SEROUT 1, 84, [STR buffer \5]
'
[ Main Routine ]
DO
Resume: ' If Message not rcvd, try again
IF IN5 = 0 THEN Reset ' EB500 disconnected?
PULSOUT 13, tLeft ' Servo control pulses
PULSOUT 12, tRight
SERIN 0, 84, 5, Resume, ' Get next command
[WAITSTR buffer \ 2, buffer2,
buffer3, buffer4]
PULSOUT 13, tLeft ' Servo control pulses again
PULSOUT 12, tRight
IF buffer2 = 192 THEN ' Handle restart req from PC
msgIndex = 0
GOTO Request_Connect
ENDIF
LOOKDOWN buffer2,[32, 33,
64, 65,
96, 97, 98,
128, 129, 130,
160, 161, 162], routine
ON routine GOSUB Set_Servo_Speed, Maneuver,
Get_Ir, Get_Whiskers,
Speaker_Tone, Set_Pins, Delay,
Enable_Digital_Sensors, Enable_Ir, Enable_Whiskers,
Disable_Digital_Sensors, Disable_Ir, Disable_Whiskers
' Load digital sensor values into buffer byte 3 for return message.
IF flagDigSens = 1 THEN GOSUB Digital_Sensors
' Increment message index for reply. Next message from PC has to use
' reply's buf[1].
msgIndex = msgIndex + 1
buffer1 = msgIndex
SEROUT 1, 84, [STR buffer \5]
LOOP
'
[ Subroutine Digital_Sensors ]
' This subroutine is used by the main routine to return digital sensor values
' with each reply.
Digital_Sensors:
buffer3 = 0
GOSUB Get_Ir
GOSUB Get_Whiskers
IF ((buffer3.BIT2 = 0 OR buffer3.BIT3 = 0) AND (flagWhiskers = 1)) THEN
tLeft = tLeft MAX 750
tRight = tRight MIN 750
ENDIF
RETURN
'
[ Subroutine Set_Servo_Speed ]
' Range of 0 to 200 with 100 = stopped maps to 650 to 850 with 750 stopped.
Set_Servo_Speed:
tLeft = buffer3 + 650 ' Decode servo speed.
tRight = buffer4 + 650
RETURN
'
[ Subroutine Speaker_Tone ]
Speaker_Tone:
duration = buffer3 ' Decode speaker tone
frequency = buffer4
FREQOUT 4, duration * 50, frequency * 50 ' Transmit tone
RETURN ' Go to resume routine
'
[ Subroutine Get_Ir ]
' IR object detection for buf[3] bits 1 (left) and 0 (right).
Get_Ir:
' IF flagIr THEN
FREQOUT 9, 1, 38500 ' IR headlight
tempBit = IN10 ' IR receiver
buffer3.BIT1 = tempBit ' Left IR reply bit
FREQOUT 3, 1, 38500
tempBit = IN2
buffer3.BIT0 = tempBit
' ENDIF
RETURN
'
[ Subroutine Get_Packet ]
' Loads packet into buffer for transmitting. Used by initialization.
Get_Packet:
FOR index = 0 TO 4
READ pointer + index, buffer(index)
NEXT
buffer(1) = msgIndex
RETURN
'
[ Subroutine Display_Command ]
' For debugging.
Display_Command:
' FOR index = 0 TO 4
' DEBUG DEC buffer(index), CR
' NEXT
RETURN
'
[ Subroutine - Check_Whiskers ]
' Stores left and right wiskers (contact switches) for buf[3] bit 3 (left) and
' 2 (right).
Get_Whiskers:
'IF FlagWhiskers THEN
buffer3.BIT3 = IN7 ' Left whisker
buffer3.BIT2 = IN8 ' Right whisker
'ENDIF
RETURN
'
[ Subroutine - Set_Pins ]
' Sets up to two pins. buf[3] high nibble specifies the operation, and the
' low nibble specifies the pin. The same applies to buf[4].
' High nibble:
' 0 - no action
' 1 - set to output
' 2 - set to input
' 3 - set to (output-high)
' 4 - set to (output-low)
' Low Nibble:
' 0 to 15 - Specifies I/O pin.
' DO NOT try to set 0, 1, 5, or 6.
Set_Pins:
temp.NIB1 = buffer3.HIGHNIB
temp.NIB0 = buffer3.LOWNIB
GOSUB Op_Pins
temp.NIB1 = buffer4.HIGHNIB
temp.NIB0 = buffer4.LOWNIB
GOSUB Op_Pins
RETURN
Op_pins:
SELECT temp.NIB1
CASE 1
OUTPUT temp.NIB0
CASE 2
INPUT temp.NIB0
CASE 3
HIGH temp.NIB0
CASE 4
LOW temp.NIB0
ENDSELECT
RETURN
'
[ Subroutine - Delay ]
' Specify delay in ms.
Delay:
temp.LOWBYTE = buffer3
temp.HIGHBYTE = buffer4
PAUSE temp
RETURN
'
[ Subroutine - Enable_Digital_Sensors ]
' Causes program to put digital sensor values in buf[3] of the reply packet.
Enable_Digital_Sensors:
FlagDigSens = 1
RETURN
'
[ Subroutine - Disable_Digital_Sensors ]
' Causes program to put digital sensor values in buf[3] of the reply packet.
Disable_Digital_Sensors:
FlagDigSens = 0
RETURN
'
[ Subroutine Enable_Whiskers ]
' Causes program to stop the Boe-Bot if Whisker contact is sensed. This gives
' the PC bluetooth system time to reply.
Enable_Whiskers:
flagWhiskers = 1
RETURN
'
[ Subroutine Disable_Whiskers ]
' Causes program to ignore the whisker contact. Also ignores when they are
' not connected.
Disable_Whiskers:
flagWhiskers = 0
RETURN
'
[ Subroutine Enable_Ir ]
' Not implemented.
Enable_Ir:
flagIr = 1
RETURN
'
[ Subroutine Enable_Whiskers ]
' Not implemented.
Disable_Ir:
flagIr = 0
RETURN
'
[ Subroutine - Maneuver ]
' Preprogrammed maneuver example. Current setup allows:
' "U" - Back up then U-turn
' "R" - Back up then right turn
' "L" - Back up then left turn
Maneuver:
FOR temp = 0 TO 35
PULSOUT 13, 650
PULSOUT 12, 850
PAUSE 20
NEXT
SELECT buffer3
CASE "U"
FOR temp = 0 TO 40
PULSOUT 13, 650
PULSOUT 12, 650
PAUSE 20
NEXT
CASE "R"
FOR temp = 0 TO 20
PULSOUT 13, 850
PULSOUT 12, 850
PAUSE 20
NEXT
CASE "L"
FOR temp = 0 TO 20
PULSOUT 13, 650
PULSOUT 12, 650
PAUSE 20
NEXT
ENDSELECT
RETURN
'
[ Subroutine Ram_Clear ]
' Clears ram for reset from PC. This prevents retaining the msgIndex and
' pulseLeft/right variable values, which would otherwise cause problems.
Ram_Clear:
W0 = 0
W1 = 0
W2 = 0
W3 = 0
W4 = 0
W5 = 0
W6 = 0
W7 = 0
W8 = 0
W9 = 0
W10 = 0
W11 = 0
W12 = 0
RETURN
Is there a problem in this code? I can't comunicate with it in java language. I send handshake, and then read until I get 5 bytes. Boebot sends me: 255 0 1 0 0. I Try to send it 255 0 2 0 0 to confirm, and I'm waiting for 255 0 3 0 0, but it keeps sending me back 255 0 1 0 0
Comments
Strip this down to the bluetoothing essentials, make it about the connectivity issue, first.
http://forums.parallax.com/showthread.php?138582-BoeBot-Connection-to-MSRD-R3-R4&highlight=boebot
which is a solved post.
I'm trying to send out 255 0 3 0 0 with SEROUT now but I need help :S
Is there someone who has made bluetooth communication before within boebot and an other language, for example C# or java?
If you make a simple programme to do only that much, and no more, it doesn't happen?
' {$STAMP BS2} ' {$PBASIC 2.5} Response VAR Byte(5) Response(0) = 255 Response(1) = 0 Response(2) = 2 Response(3) = 0 Response(4) = 0 BT_test: SEROUT 1,84,[255, 0, 1, 0, 0] SERIN 0,84,[WAITSTR Response] ' waiting for 225,0,2,0,0 DEBUG "Got Response", CR SEROUT 1,84,[255, 0, 3, 0, 0] DEBUG "Reply issued", CR PAUSE 1500 DEBUG CLS GOTO BT_test' {$STAMP BS2} ' {$PBASIC 2.5} buffer1 VAR Byte ' Message Index value buffer2 VAR Byte ' Argument 1 (return data 1) buffer3 VAR Byte ' Argument 2 (return data 2) Handshake VAR Byte(5) Handshake(0) = 255 Handshake(1) = buffer1 Handshake(2) = 192 Handshake(3) = 0 Handshake(4) = 0 Confirm VAR Byte(5) Confirm(0) = 255 Confirm(1) = buffer1 Confirm(2) = 2 Confirm(3) = 0 Confirm(4) = 0 Command VAR Byte(5) Command(0) = 255 Command(0) = buffer1 Command(0) = 32 Command(0) = buffer2 Command(0) = buffer3 BT_test: SERIN 0,84, [WAITSTR Handshake] buffer1 = buffer1 + 1 SEROUT 1,84,[255, buffer1, 1, 0, 0] SERIN 0,84,[WAITSTR Confirm] ' waiting for 225,index,2,0,0 DEBUG "Got Response", CR buffer1 = buffer1 + 1 SEROUT 1,84,[255, buffer1, 3, 0, 0] DEBUG "Reply issued", CR DO SERIN 0,84, [WAITSTR Command] DEBUG "Got Command", CR PULSOUT 13, 650 + buffer2 PULSOUT 12, 650 + buffer3 SEROUT 1,84,["Next Command needed: "] buffer1 = buffer1 + 1 SEROUT 1,84,[255, buffer1, 3, 0, 0] PAUSE 500 LOOP PAUSE 500 DEBUG CLS GOTO BT_testI modified it a little because it wasn't working, but it still doesn't. Any suggestions?
I didn't include the BT initialisation line: but I didn't intend it to be the last word.
this also happend with the Properller code for the Spinstamp's SPIN code on the Quick Start Board... see link for Pic's and info..
http://forums.parallax.com/showthread.php?140007-Propeller-(Quick-Start-Board)-working-with-MSRDS
Not sure if this third party software "Blue Soloile" or any other software has fixed the issue, but you may want to try this if your using 3rd party software. I use "BlueSoloile" for the Wii controllers with GlovePie for some PC game experiments.
hope this helps.....