Update on my sensor board project
Update on my sensor board that I did months ago:
I call it the RSCU board (Robotic Sensor Control Unit)
I have made several improvements to the original design such as add tilt sensing·as well as PING))) interface connectors. I have added·a speakjet for speech reproduction. the speech can be used as a sort of audio monitor that tells the user if the battery is low, the direction it's heading, or if an internal error has occured,·just a few examples.
My·board can:
See, hear, speak, all while ballancing using the tilt sensor. My goal was to create a board that had several of the human senses all on a single board to reduce wire clutter and to save space. I have not tried the tilt sensor but I designed the board so that it will be plug-and-play. The resistors needed for the· Parallax Memsic sensor is built in the board. You just plug the memsic sensor in the 6 pin soccket and load up the code and your good to go.
The audio sensor works well, although not perfect. It will respond to left and right sounds which was my goal. Soft sounds tend to go unnoticed, however, it would be annoying if it responded to every single sound wave in the environment. I responds well to door closeings (at the oposite end of the house) and dog barks in the same room as well as in another room.
Here is a picture of the Aluminum "skull" chassis:
Here is a photo of the board, complete, except it lacks a 6 pin socket for the tilt sensor.
Here's a video demonstration. I screwed up with the left and right side in my code. I have corrected this by changing the speech code to reflect the proper "Right" and "Left" sides, so in the video, you will notice it says "Left" when it turns right, and "Right" when it turns left. Oh well... It's fixed now.
The Robot head is made out of solid aluminum fitted with two microphones and a 36mm mylar speaker as well as Parallax PING sensors desoldered from the board and reconnected using soft leads (wires).
Enjoy the video:
http://media.putfile.com/TorsoDemo
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Mike
Post Edited (SN96) : 1/13/2007 3:59:50 PM GMT
I call it the RSCU board (Robotic Sensor Control Unit)
I have made several improvements to the original design such as add tilt sensing·as well as PING))) interface connectors. I have added·a speakjet for speech reproduction. the speech can be used as a sort of audio monitor that tells the user if the battery is low, the direction it's heading, or if an internal error has occured,·just a few examples.
My·board can:
See, hear, speak, all while ballancing using the tilt sensor. My goal was to create a board that had several of the human senses all on a single board to reduce wire clutter and to save space. I have not tried the tilt sensor but I designed the board so that it will be plug-and-play. The resistors needed for the· Parallax Memsic sensor is built in the board. You just plug the memsic sensor in the 6 pin soccket and load up the code and your good to go.
The audio sensor works well, although not perfect. It will respond to left and right sounds which was my goal. Soft sounds tend to go unnoticed, however, it would be annoying if it responded to every single sound wave in the environment. I responds well to door closeings (at the oposite end of the house) and dog barks in the same room as well as in another room.
Here is a picture of the Aluminum "skull" chassis:
Here is a photo of the board, complete, except it lacks a 6 pin socket for the tilt sensor.
Here's a video demonstration. I screwed up with the left and right side in my code. I have corrected this by changing the speech code to reflect the proper "Right" and "Left" sides, so in the video, you will notice it says "Left" when it turns right, and "Right" when it turns left. Oh well... It's fixed now.
The Robot head is made out of solid aluminum fitted with two microphones and a 36mm mylar speaker as well as Parallax PING sensors desoldered from the board and reconnected using soft leads (wires).
Enjoy the video:
http://media.putfile.com/TorsoDemo
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Mike
Post Edited (SN96) : 1/13/2007 3:59:50 PM GMT
Comments
PS. If it is not to much trouble could you show the code and some wiring diagrams?
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lets see what this does... KA BOOM (note to self do not cross red and black)
I can post the code later, I'm about to leave right now. Thanks for the comment.
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Mike
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' ========================================================================= ' ----------------------------------------------------------------------- ' ' File.......... ADC08x32.BS2 ' Description... RSCU ' Author........ Mike Bookbinder ' E-mail........ [url=mailto:botwire@yahoo.com]botwire@yahoo.com[/url] ' Web........... [url=http://www.geocities.com/botwire]www.geocities.com/botwire[/url] ' Updated....... 1-14-06 ' ' {$STAMP BS2} ' {$PBASIC 2.5} ' ' -----[noparse][[/noparse] Program Description ]--------------------------------------------- ' ' This program is modified code from the Parallax ADC0832.bs2 program example. ' I have modified this code to work with the RSCU (Robotic Sensor Control Unit). ' For the original code example, please visit [url=http://www.parallax.com/]www.parallax.com[/url] for more ' information. ' -----[noparse][[/noparse] Revision History ]------------------------------------------------ '-------------------------------------------------------------------------- '-----[noparse][[/noparse] Ping ]------------------------------------------------------------- Ping PIN 15 '-------------------------------------------------------------------------- ' PA0 CON 0 ' pauses PA1 CON 1 PA2 CON 2 PA3 CON 3 PA4 CON 4 PA5 CON 5 PA6 CON 6 Fast CON 7 Slow CON 8 Stress CON 14 Relax CON 15 _Wait CON 16 ' note underscore Soft CON 18 Volume CON 20 Speed CON 21 Pitch CON 22 Bend CON 23 PortCtr CON 24 Port CON 25 Repeat CON 26 CallPhr CON 28 GotoPhr CON 29 Delay CON 30 Reset CON 31 IY CON 128 IH CON 129 EY CON 130 EH CON 131 AY CON 132 AX CON 133 UX CON 134 OH CON 135 AW CON 136 OW CON 137 UH CON 138 UW CON 139 MM CON 140 NE CON 141 NO CON 142 NGE CON 143 NGO CON 144 LE CON 145 LO CON 146 WW CON 147 RR CON 148 IYRR CON 149 EYRR CON 150 AXRR CON 151 AWRR CON 152 OWRR CON 153 EYIY CON 154 OHIY CON 155 OWIY CON 156 OHIH CON 157 IYEH CON 158 EHLL CON 159 IYUW CON 160 AXUW CON 161 IHWW CON 162 AYWW CON 163 OWWW CON 164 JH CON 165 VV CON 166 ZZ CON 167 ZH CON 168 DH CON 169 BE CON 170 BO CON 171 EB CON 172 OB CON 173 DE CON 174 _DO CON 175 ' note underscore ED CON 176 OD CON 177 GE CON 178 GO CON 179 EG CON 180 OG CON 181 CH CON 182 HE CON 183 HO CON 184 WH CON 185 FF CON 186 SE CON 187 SO CON 188 SH CON 189 TH CON 190 TT CON 191 TU CON 192 TS CON 193 KE CON 194 KO CON 195 EK CON 196 OK CON 197 PE CON 198 PO CON 199 RO CON 200 R1 CON 201 R2 CON 202 R3 CON 203 R4 CON 204 R5 CON 205 R6 CON 206 R7 CON 207 R8 CON 208 R9 CON 209 A0 CON 210 A1 CON 211 A2 CON 212 A3 CON 213 A4 CON 214 A5 CON 215 A6 CON 216 A7 CON 217 A8 CON 218 A9 CON 219 _B0 CON 220 ' note underscore _B1 CON 221 _B2 CON 222 _B3 CON 223 _B4 CON 224 _B5 CON 225 _B6 CON 226 _B7 CON 227 _B8 CON 228 _B9 CON 229 C0 CON 230 C1 CON 231 C2 CON 232 C3 CON 233 C4 CON 234 C5 CON 235 C6 CON 236 C7 CON 237 C8 CON 238 C9 CON 239 D0 CON 240 ' DTMF tones D1 CON 241 D2 CON 242 D3 CON 243 D4 CON 244 D5 CON 245 D6 CON 246 D7 CON 247 D8 CON 248 D9 CON 249 D10 CON 250 D11 CON 251 M0 CON 252 ' sonar pin M1 CON 253 ' pistol shot M2 CON 254 ' WOW EOS CON 255 TX PIN 9 RDY PIN 10 phrase VAR Nib phrase = 6 idx VAR Nib '------------------------------[noparse][[/noparse] SpeakJet Setup ]------------------------------------- 'PAUSE 3000 SEROUT 9,$0054,[noparse][[/noparse]"\0RX"] 'CLEAR BUFFER SEROUT TX\RDY,$0054,[noparse][[/noparse]020,127]' set volume to max SEROUT 9,$0054,[noparse][[/noparse]PITCH,85,BEND,4] ' -----[noparse][[/noparse] I/O Definitions ]------------------------------------------------- CS PIN 15 ' ADC0832.1 Clk PIN 14 ' ADC0832.7 Dio PIN 13 ' ADC0832.5 / ADC0832.6 ' -----[noparse][[/noparse] Constants ]------------------------------------------------------- Dif CON %0 ' differential Raw2mV CON $139B ' 19.6 mV per count ' -----[noparse][[/noparse] Variables ]------------------------------------------------------- sglDif VAR Bit ' adc mode (1 = SE) oddSign VAR Bit ' chan (Sgl), sign (Dif) adc VAR Byte(2) ' channel values mVolts VAR Word(2) ' millivolts RightEar VAR Word ' Right Electret Mic LeftEar VAR Word ' Left Electret Mic counter VAR Word ' Loop Counter ' -----[noparse][[/noparse] EEPROM Data ]----------------------------------------------------- ' -----[noparse][[/noparse] Initialization ]-------------------------------------------------- 'Reset: HIGH CS ' deselect ADC DEBUG CLS, ' Print display "ADC08x32", CRSRXY, 0, 9, "Differential", CR, CR, " Ch0:", CR, " Ch1:" ,CR DEBUG CRSRXY,0,5, ' setup report screen "Parallax Ping Sonar ", CR, "=====================", CR, "Time (uS)..... ", CR, "Inches........ ", CR, "Centimeters... " ' -----[noparse][[/noparse] Main Program ]---------------------------------------------------- Main: DO sglDif = Dif FOR oddSign = 0 TO 1 GOSUB Read_0832 mVolts(oddSign) = adc(oddSign) */ Raw2mV DEBUG CRSRXY, 7, (11 + oddSign), DEC3 adc(oddSign), TAB, DEC mVolts(oddSign) DIG 3, ".", DEC3 mVolts(oddSign) LeftEar = adc(0) 'Get value from Channel 0 RightEar = adc(1) 'Get value from channel 1 DEBUG HOME, CR, DEC3 RightEar 'Print value of CH1 DEBUG CR, DEC3 LeftEar 'Print value of CH2 IF RightEar > 15 THEN 'Threshold 5. If > then go to RightEarSub GOSUB RightEarSub DEBUG HOME, "RT Ear" ELSEIF LeftEar > 20 THEN 'Else if this is > the set threshold, go to LeftEarSub GOSUB LeftEarSub DEBUG HOME, "LT Ear" ELSE DEBUG HOME, " " ENDIF NEXT LOOP END ' -----[noparse][[/noparse] Subroutines ]----------------------------------------------------- ' Reads ADC08x32 Read_0832: ' Read ADC Chip LOW CS ' send start, mode, channel SHIFTOUT Dio, Clk, MSBFIRST, [noparse][[/noparse]%1\1, sglDif\1, oddSign\1] ' read raw counts from ADC SHIFTIN Dio, Clk, MSBPOST, [noparse][[/noparse]adc(oddSign)\8] HIGH CS RETURN LeftEarSub: LeftEar = 0 SEROUT TX\RDY, $0054,[noparse][[/noparse]PA1,LE,EY,FF,FF,TU,PA6,SE,OHIH,DE,PA2] FOR counter = 1 TO 150 STEP 5 PULSOUT 5,500 PAUSE 20 NEXT PAUSE 1000 FOR counter = 1 TO 150 STEP 5 PULSOUT 5,728 PAUSE 20 NEXT FOR counter = 1 TO 50 GOSUB Read_0832 NEXT RETURN RightEarSub: RightEar = 0 ' Move servo right SEROUT TX\RDY, $0054, [noparse][[/noparse]PA1,RR,RR,OHIH,TU,PA6,SE,OHIH,DE,PA2] 'Hello 'SEROUT TX\RDY, $0054,[noparse][[/noparse]HE,EH,LE,OWWW,PA2] FOR counter = 1 TO 150 STEP 5 PULSOUT 5,1000 PAUSE 20 NEXT PAUSE 1000 FOR counter = 1 TO 150 STEP 5 PULSOUT 5,728 PAUSE 20 NEXT FOR counter = 1 TO 50 GOSUB Read_0832 NEXT RETURN▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Mike
Post Edited (SN96) : 1/17/2007 2:49:03 PM GMT
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Problems are the "roads" of life,
solutions are only "onramps" to the next problem
············································· "Brad Smith"
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lets see what this does... KA BOOM (note to self do not cross red and black)