Looking for Code for Gripper3 with Propeller1chip on Activity Bot 32500 (non ActivityBot 360)-
aedford1551
Posts: 29
in Robotics
Robot Articulation with gripper functionality combined -Will develop a program but there must be one already available. Found one for Basic bs but not for propeller
Comments
I have a program that uses a Sony TV remote with the gripper (below). You will also need a file tvcodes.h in the same directory as this. I located that below this program.
Hope this helps.
/* SIRC drive w grip TV remote.c Drive with continuous rot servo and gripper -- has option to use either camera or tv codes (choose .h) 1. Added gripper statements This version uses TV remote Connect 38 kHz IR receiver to Propeller P10 Decodes button presses on Sony-compatible IR remote Commands Activitybot to move straight, pivot 45 deg, move in a curve, increase or decrease speed and curve radius, stop, and use gripper. Load EEProm and Run */ #include "simpletools.h" // Libraries included #include "sirc.h" #include "abdrive.h" // abdrive library #include "servo.h" // for gripper // Choose either camera or TV remote, uncomment that include, and comment the other //#include "cameracodes.h" #include "tvcodes.h" // Sony remote control aliases /* camera remote TV remote alias SIRC Key command SIRC Key fwd 58 up arrow ...... forward .......... 2 #2 stp 57 center ........ stop ............. 5 #5 rvs 59 down arrow .... reverse .......... 8 #8 pl 62 left arrow .... pivot left ....... 4 #4 pr 63 right arrow ... pivot right ...... 6 #6 cvl 56 menu .......... curve left ....... 1 #1 cvr 61 trash can ..... curve right ...... 3 #3 ispd 74 rocker+ ....... increase speed ... 16 chan+ dspd 75 rocker- ....... decrease speed ... 17 chan- grip 45 shutter ....... close grip ...... 116 arrow up gopen 55 2 sec ......... open grip ....... 117 arrow down */ #define GRIPPIN 16 int main() // main function { int spd = 50; // initial speed once fwd command given int dflg = 0; // direction flag = -1 fwd or rev, 0 = stopped, 1 = curve left, 2 = curve right drive_speed(0, 0); sirc_setTimeout(1000); // -1 if no remote code in 1 s freqout(4, 2000, 3000); // Speaker tone: 2 s, 3 kHz servo_angle(GRIPPIN, 0); // open gripper while(1) // Repeat indefinitely { // decode signal from P10 int button = sirc_button(10); // get code from remote switch(button) { case stp : drive_speed(0, 0); // Center button - Q dflg = 0; break; case fwd : drive_speed(spd, spd); // Top Arrow - M dflg = -1; break; case rvs : drive_speed(0, 0); drive_speed(-spd, -spd); // Down Arrow dflg = -1; break; case pr : // Right Arrow - N drive_speed(0, 0); drive_speed(13, -13); // Turn Right 45 deg & stop pause(1000); drive_speed(0, 0); dflg = 0; break; case pl : // Left Arrow - P drive_speed(0, 0); drive_speed(-13, 13); // Turn Left 45 deg & stop pause(1000); drive_speed(0, 0); dflg = 0; break; case cvr : // Curve Right - L if (spd<25) spd=25; drive_speed(spd, spd-20); dflg = 2; break; case cvl : // Curve Left - K if (spd<25) spd=25; drive_speed(spd-20, spd); dflg = 1; break; case ispd : // Increase speed if (dflg == 1) // curving left - increase spd and move in curve at new spd { spd=spd+5; // Up rocker - H if (spd > 100) spd = 100; drive_speed(spd-20, spd); } else if (dflg == 2) // curving right - increase spd and move in curve at new spd { spd=spd+5; // Up rocker - H if (spd > 100) spd = 100; drive_speed(spd, spd-20); } else if (dflg == -1) // straight ahead - increase spd and move at new spd { spd=spd+5; // Up rocker - H if (spd > 100) spd = 100; drive_speed(spd, spd); } else { spd=spd+5; // Up rocker - H if (spd > 100) spd = 100; } break; // Finish up rocker case dspd : // decrease spd if (dflg == 1) // curving left - decrease spd and move at new spd { spd=spd-5; // dn rocker if (spd < 25) spd = 25; drive_speed(spd-20, spd); } else if (dflg == 2) // curving right - decrease spd and move at new spd { spd=spd-5; // dn rocker if (spd < 25) spd = 25; drive_speed(spd, spd-20); } else if (dflg == -1) // straight ahead - decrease spd and move at new spd { spd=spd-5; // dn rocker if (spd <0) spd = 0; drive_speed(spd, spd); } else // stopped { spd=spd-5; // dn rocker if (spd <0) spd = 0; } break; // end decrease case grip : drive_speed(0, 0); pause(100); servo_angle(GRIPPIN, 1700); break; case gopen : drive_speed(0, 0); pause(100); servo_angle(GRIPPIN, 0); break; default : break; } } }Here is the tvcodes.h file
Thanks
I'll try it
Also did you use a camera ?
Can you share that
Al
Did you use a resistor with the 38KHz IR receiver ? 220 ohm into pin ?
and
What model Sony was the TV remote I can get one from Amazon
Thanks
Where should I look?
They should be in the SimpleIDE, learn, simple libraries folders.
Using Simple IDE click "help" and Simple Library Reference to see the documentation.
Tom
The program works with either the Sony TV remote or an older Sony camera IR remote (my remote came with the Sony A700 DSLR). The only difference in the program is that the camera remote needs changed to and camera codes.h is the following:
// cameracodes.h SIRC codes for Sony camera remote #include "simpletools.h" // Sony camera remote control aliases #define fwd 58 // forward #define stp 57 // stop #define rvs 59 // reverse #define pl 62 // pivot left #define pr 63 // pivot right #define cvl 56 // curve left #define cvr 61 // curve right #define ispd 74 // increase speed #define dspd 75 // decrease speed #define grip 45 // close gripper #define gopen 55 // open gripperMy Sony TV remote, doesn't have any model number on it, and the TV no longer exists. The camera remote is Sony RMT-DSLR1. I believe that it has been discontinued.
I also think (but am not sure) that the Parallax remote uses different codes than my TV remote, but that is not a big deal.
If your remote has different codes, just decide what you want each button to do (from the list above). Then using the remote and the program "Test SIRC remote" in the SimpleIDE folder "SimpleIDE\Learn\Examples\Devices\TV Remote" Record the SIRC value for each button and change the number in the tvcodes.h defines.
Hope this helps.
Tom
I have a photo of the wiring I use for the SIRC at the following link:
forums.parallax.com/discussion/comment/1337873/#Comment_1337873
This is for a different configuration of my ActivityBot (using Bluetooth radio control from a SAMSUNG Android Tablet joystick app) and whiskers for responding to obstacles. But the SIRC wiring is the same. It uses the 220- ohm resistor into P10 (same as in the tutorial:
learn.parallax.com/tutorials/language/propeller-c/propeller-c-simple-devices/ir-receiver-and-remote
Hope this helps.
Tom
Tom
Remote control issue " include " tv codes"
Activity Bot (32500) board 32912 rev c
Revisiting my old Activity Bot and forgot how I programmed it
Want to run gripper with remote however get error see file attached . Reviewing above comment from Tom please tell me if this is correct for the " tv codes .h "
Comment out camera codes , uncomment "tv codes .h "and add in code below "tv codes.h" line
Is this right to correct my error in the attached ?
If not please advise on how to correct
Thanks