Polaroid Camera Sonar hack

Louis

I have a sonar system·extracted from a Polaroid One Step(http://www.seattlerobotics.org/encoder/200010/dlcsonar.html).
I made the mods to the Polaroid board, wired a breadboard (http://www.seattlerobotics.org/encoder/200010/onestpg.jpg), added the required additional power source with a common ground, added an OEM BASIC Stamp 2sx, and ran the code provided (http://www.seattlerobotics.org/encoder/200010/sonar.bs2).

The debug window consistently reports time to be '1'. I have tried using multiple distances but the reported value never changes. I can hear the transducer clicking.·I have tried the same mod on a separate Polaroid board with the same results. Any help would be appreciated.

Franklin

Did you comment out the appropriate lines in the program for the non used board? Could you attach you exact code?

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- Stephen

Louis

The code is below. The only change I made from the·website is add the Stamp Directive and·comment out the math for calculating inches.·I am using a One Step so I·won't need to comment out the camera selection. Thanks for the help

' {$STAMP BS2sx}
'Polaroid SONAR programs for the Parallax Stamp II
'Copywrite Dennis Clark 9/2000, more or less.
SPKR· CON· 1
'Polaroid SONAR one-step program
PWR· CON· 13
XLOG· CON· 14
MFLOG· CON· 15
'Polaroid SUN 660 (6500 board) SONAR
INIT· CON· 15
ECHO660· CON· 14
BINH660· CON· 13
time· VAR· Word
feet· VAR· Word
inches· VAR· Word
start:
FREQOUT SPKR,200,2000
PAUSE 2000
GOTO onestep· 'comment this line out to use the 660 routine below
'Polaroid 660· routine
OUTPUT PWR
OUTPUT INIT
INPUT ECHO660
LOW INIT····· 'turn init off
HIGH PWR····· 'turn power off
trdng:
LOW PWR······· 'turn on power
PAUSE 5······· 'wait a little
HIGH INIT
PULSOUT 0,600····· 'wait 1.2ms (dummy line)
RCTIME ECHO660,0,time··· 'Now,wait for ping pulse
time = time*2
inches = time/148+11··· '1.78ms per foot round trip
······· 'with a little fudge for Stamp latency
DEBUG DEC time,"uS ",DEC inches," in",CR
LOW INIT····· 'turn init off
HIGH PWR····· 'turn power off
PAUSE 1000····· 'let us catch our breath
GOTO trdng····· 'do it again
onestep:
'Polaroid One-Step routine
INPUT XLOG
INPUT MFLOG
HIGH PWR····· 'turn power off
srdng:
LOW PWR······· 'turn power on
PULSIN XLOG,0,time··· 'wait for XLOG (pulse started)
RCTIME MFLOG,1,time··· 'wait for MFLOG (ping returned)
'time = time*2····· 'actually 2us per count
'inches = time/148··· '1.78ms per foot transit time
'inches=inches+2····· 'occasional hack needed.
HIGH PWR····· 'turn power off
DEBUG DEC time,"uS ",DEC inches," in",CR
PAUSE 1000····· 'seems to take a while to recharge...
GOTO srdng
END