IR Control

1
IR Control

• Materials taken from IR Remote for the Boe-Bot by
  Andy Lindsay

2
The Plan Use a TV Remote to Control the Boe-Bot
IR Signal 980 nm, 38.5 kHz
Sony TV Remote Control.
Basic Stamp Program to Guide the Boe-Bot Based
on IR signals
PWM Inverted, 0.6ms PW-off 1.2ms PW-on
3
How It Works

• RCTIME is used because the IFTHEN statement
  does not finish until after the next data pulse
  has already begun.
• Since the start of the pulse (its negative
  edge) is missed while the IFTHEN statement is
  executing, PULSIN cannot properly detect the
  beginning of the pulse.

4
Last Weeks Program Decoding the IR Signal

• time VAR Word ' SONY TV remote variables.
• remoteCode VAR Byte
• DEBUG "Binary Val Decimal Val", CR, "Bit 76543210
  ", CR, "------------ -------------"
• DO ' Beginning of main loop.
• remoteCode 0 ' Clear all bits in
  remoteCode.
• DO ' Wait for rest between messages.
• RCTIME 9, 1, time
• LOOP UNTIL time gt 1000
• PULSIN 9, 0, time ' Measure pulse.
• IF time gt 500 THEN remoteCode.BIT0 1
• RCTIME 9, 0, time ' Measure next pulse.
• IF time gt 300 THEN remoteCode.BIT1 1
• RCTIME 9, 0, time ' etc.
• IF time gt 300 THEN remoteCode.BIT2 1
• RCTIME 9, 0, time
• IF time gt 300 THEN remoteCode.BIT3 1
• RCTIME 9, 0, time
• IF time gt 300 THEN remoteCode.BIT4 1
• RCTIME 9, 0, time

5
Building an Application for Controlling the
Boe-Bot

• New Features
• Constants keypad values will be assigned
  meaningful names using the CON directive.
• Subroutines break the program into chunks of
  code that can be separately executed each chunks
  is called a subrountine.
• SELECTCASE statement use the SELECTCASE
  statement to recognizes all the different remote
  keys.

6
The CON Statement

• ' STAMP BS2
• ' PBASIC 2.5
• ' ----- I/O Definitions ------------------------
  -------------------------
• ' SONY TV IR remote declaration - input received
  from IR detector
• IrPin PIN 9
• ' ----- Constants ------------------------------
  -------------------------
• ' SONY TV IR remote constants for non-keypad
  buttons
• Enter CON 11
• ChUp CON 16
• ChDn CON 17
• VolUp CON 18
• VolDn CON 19
• Power CON 21
• ' include VCR keys too
• ' ----- Variables ------------------------------
  -------------------------
• ' SONY TV IR remote variables
• irPulse VAR Word

7
The SELECTCASE Statement

• DEBUG CLS, "Remote code "
• SELECT remoteCode
• CASE 0 TO 9
• DEBUG DEC remoteCode
• CASE Enter
• DEBUG "ENTER"
• CASE ChUp
• DEBUG "CH"
• CASE ChDn
• DEBUG "CH-"
• CASE VolUp
• DEBUG "VOL"
• CASE VolDn
• DEBUG "VOL-"
• CASE Power
• DEBUG "POWER"
• CASE ELSE
• DEBUG DEC remoteCode, " (unrecognized)"
• ENDSELECT

Can be any expression
Case labels are compared To the expression value
Statement(s) executed when case label matches
expression
8
Subroutines

• DO
• GOSUB Get_Ir_Remote_Code
• DEBUG CLS, "Remote code ", DEC remoteCode
• LOOP
• Get_Ir_Remote_Code
• remoteCode 0 ' Clear all bits
• DO ' Rest between messages.
• RCTIME IrPin, 1, irPulse
• LOOP UNTIL irPulse gt 1000
• PULSIN IrPin, 0, irPulse ' Measure pulse.
• IF irPulse gt 500 THEN remoteCode.BIT0 1 '
  Set (or leave clear) bit-0.
• RCTIME IrPin, 0, irPulse ' Measure next pulse.
• IF irPulse gt 300 THEN remoteCode.BIT1 1 '
  Set (or leave clear) bit-1.
• RCTIME IrPin, 0, irPulse ' etc.
• IF irPulse gt 300 THEN remoteCode.BIT2 1
• RCTIME IrPin, 0, irPulse

9
Boe-Bot Control

• SELECT remoteCode
• CASE 2, ChUp ' Forward
• PULSOUT 13, 850
• PULSOUT 12, 650
• CASE 4, VolDn ' Rotate Left
• PULSOUT 13, 650
• PULSOUT 12, 650
• CASE 6, VolUp ' Rotate Right
• PULSOUT 13, 850
• PULSOUT 12, 850
• CASE 7 ' Pivot Back-left
• PULSOUT 13, 750
• PULSOUT 12, 850
• CASE 9 ' Pivot Back-right
• PULSOUT 13, 650
• PULSOUT 12, 750
• CASE ELSE ' Hold Position
• PULSOUT 13, 750

10
Putting It All Together

• ' ----- I/O Definitions ------------------------
  -------------------------
• IrPin PIN 9
• ' ----- Constants ------------------------------
  -------------------------
• ChUp CON 16
• ChDn CON 17
• ' ----- Variables ------------------------------
  -------------------------
• remoteCode VAR Byte
• ' ----- Main Routine ---------------------------
  -------------------------
• DO
• GOSUB Get_Ir_Remote_Code
• DEBUG CLS, "Remote code ", DEC remoteCode
• GOSUB Bot_Command
• LOOP
• ' ----- Subroutines ----------------------------
  -----------------------------
• Get_Ir_Remote_Code
• remoteCode 0

11
Other IR Remote Applications

• Applications Described in Chapter 3 of IR Remote
  for the Boe-Bot
• Remote speed control
• Selecting among pre-programmed functions
• For Project 1, you will need to control both DC
  motors and servos.