2009-9-25 上午 11-17-21.png

由於大學部學弟們的畢製要使用超音波,再度把去年寫的程式挖出來,

此版本可透過 Max/MSP 簡單使用 [u d] 指令送給 SimpleMessageSystem,即回傳接在 Arduino 的兩組 PING))) UltraSonic Range Finder 資訊(測距遠近)。

 

請先將以下程式碼燒錄至 Arduino 單晶片中,按照範例所設定,兩枚PING)))超音波的SGN(訊號腳位)請插在 Arduino 之 6 及 8 腳位

/*
 Ultrasonic Sensor for SimpleMessageSystem
 by dk
*/

#include "SimpleMessageSystem.h"

int ultraSoundSignal = 6; // Ultrasound signal pin
int ultraSoundSignal2 = 8; // Ultrasound signal pin
int val = 0;
int value, value2 = 0;
int ultrasoundValue = 0;
int timecount = 0; // Echo counter
int ledPin = 13; // LED connected to digital pin 13

void setup() {
 beginSerial(9600); // Sets the baud rate to 9600
 pinMode(ledPin, OUTPUT); // Sets the digital pin as output
}

void loop() {
 finder(ultraSoundSignal, 'A');
 finder(ultraSoundSignal2,'B');
 if (messageBuild() > 0) {
 // Checks to see if the message is complete and erases any previous messages
 switch (messageGetChar()) { // Gets the first word as a character
  case 'u': // Read value of ultrasonic range finder
   readfinder();
   break;
  }
 }
 delay(100);
}

void finder(int pin, char identifier) {
 timecount = 0;
 val = 0;
 pinMode(pin, OUTPUT); // Switch signalpin to output
 /* Send low-high-low pulse to activate the trigger pulse of the sensor
  * -------------------------------------------------------------------
  */
 digitalWrite(pin, LOW); // Send low pulse
 delayMicroseconds(2); // Wait for 2 microseconds
 digitalWrite(pin, HIGH); // Send high pulse
 delayMicroseconds(5); // Wait for 5 microseconds
 digitalWrite(pin, LOW); // Holdoff
 /* Listening for echo pulse
  * -------------------------------------------------------------------
  */
 pinMode(pin, INPUT); // Switch signalpin to input
 val = digitalRead(pin); // Append signal value to val
 while(val == LOW) { // Loop until pin reads a high value
  val = digitalRead(pin);
 }
 while(val == HIGH) { // Loop until pin reads a low value
  val = digitalRead(pin);
  timecount = timecount +1; // Count echo pulse time
 }
/* Writing out values to the serial port
* -------------------------------------------------------------------
*/
ultrasoundValue = timecount; // Append echo pulse time to ultrasoundValue
 switch(identifier) {
  case 'A':
   value = ultrasoundValue;
   break;
  case 'B':
   value2 = ultrasoundValue;
   break;
 }
}

void readfinder(){
 switch (messageGetChar()) { // Gets the next word as a character
  case 'd': // READ digital pins
  // read ultra range finder by dk
   messageSendInt(value);
   messageSendInt(value2);
   messageEnd(); // Terminate the message being sent
   break; // Break from the switch
 }
}

 

Ultrasonic Sensor 讀取頻率為 100ms 一次,可自由更改。

關於超音波讀取這方式是參考 Arduino Playground 中的 Ping Ultrasonic Range Finder。

而以上程式碼為本站改寫前者與 SimpleMessageSystem,整合後部分程式碼。[下載] (此版本為測試用,使用 SimpleMessageSystem 的函式庫所撰寫,若需使用SimpleMessageSystem 其他功能如r d 1這種用法的函式,請參考 SimpleMessageSystem 範例原始碼自行加入)

 

 

。若有使用及修改之需求,請尊重作者並註明出處。

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