AVR-Chat

Jason, excellent project.
I'll read your code and i'll give you my suggestions.

Ricardo Callejo
SURbyte
Argentina

  ----- Original Message ----- 
  From: jason rollette 
  To: AVR-Chat@yahoogroups.com 
  Sent: Thursday, June 15, 2006 12:02 PM
  Subject: [AVR-Chat] AVR as Controller for ROV Submarine



  I am new to this group, and am currently working on the program done for a 

  MEGA32 to control a Remote Operated Vehicle Submarine. More details can be found 
  here www.rollette.com/rovrev2 

  the program accepts serial commands from a laptop, and is controlled via a 
  visual basic interface. See screen.jpg 

  the interface sends the following command sets. 
  Here are the serial commands from Visual Basic or HyperTerminal. The values are 
  a lower case letter each followed by a value from 0-9 and a carriage return. 
  Value "0" being off. a0-9 = Forward, b0-9 = Reverse, 

  c0-9 = Left, d0-9 = Right, e0-9 = Up, f0-9 = Down, g = Ping, h = Air Lift, i = 
  Torpedo, j = Aux1, k0-9 = ballast, l0-9 = Lights, m0-9 = IR lights, Commands 
  received from processor: When the sub is first turned on it sends back "Ready" 
  Commands are in UPPER CASE followed by a number in the range ex.: C56 means the 
  compass is sending back a reading of 56 degrees. C Compass direction (in 
  degrees) 1-360, L Leak message 0 = no leak, 1 = leak, P Pressure (in 
  PSI) 0-500, TI Internal ROV temperature (in degrees Fahrenheit) 0-100, TW Water 
  temperature (in degrees Fahrenheit) 0-100, V Battery Voltage 1-20, X -90 - +90 
  tilt angle(front to back vertical), Y -90 to +90 tilt angle(left to right 
  horizontal). 

  Attached is my program it is done in BASECOM. I do not have all the features 
  working, like speed control, it is just on/off now. I am also unsure how to take 
  an ADC and manipulate it with a multiplier. I am not sure what variable to 
  define it as. I am also unsure how to have more than one "one wire" device. 

  Any help or suggestions, or code modifications would be appreciated. 
  Jason 

  $regfile = "m32def.dat" 

  $crystal = 10000000 

  Dim S As String * 2 
  Dim Letter As String * 1 
  Dim Number As String * 1 
  Dim Y As Word , X As Word , V As Word , P As Word , Ti As Word 
  Dim Temp_buf As Byte , Stat_buf As Byte 

  Enable Interrupts 


  Config Adc = Single , Prescaler = Auto 
  Config Portb = Output 
  Config Pind.4 = Output 
  Config Pind.5 = Output 
  Config Pind.6 = Output 

  Config Pind.2 = Input 
  Config Pind.1 = Input 
  Config 1wire = Pind.3 
  Config Serialin = Buffered , Size = 20 
  Config Serialout = Buffered , Size = 25 'setup the UART 

  'Portb = 0 
  Start Adc 
  1wreset 

  'Print Err ' optional 
  1wwrite &H0C ' write status 
  1wwrite &B01000010 
  V = 0 
  X = 0 
  Y = 0 
  P = 0 
  Print "Ready" 

  Do 'begin the loop 
  Program: 

  'Start Adc 
  P = Getadc(3) 
  V = Getadc(2) 

  X = Getadc(0) 
  Y = Getadc(1) 
  Print "X" ; X 
  Print "Y" ; Y 
  Print "V" ; V 'scaler to according 
  to voltage divider 
  Print "P" ; P 'scaler to according 
  to voltage divider 
  1wreset 
  1wwrite &HEE 
  1wreset




  1wwrite &HAA ' get temperature 
  Temp_buf = 1wread() 
  1wreset 
  1wwrite &HAC 
  Stat_buf = 1wread() 
  Print "TI" ; Temp_buf ; " " '; Stat_buf ; " " 


  If Pind.1 = 1 Then 
  Print "L1" 
  End If 
  If Pind.0 = 1 Then 
  Print "L1" 
  Else : Print "L0" 
  End If 
  'get a char from the UART 


  Input S 
  Letter = Left(s , 1) 
  Number = Right(s , 1) 
  If Letter = "l" Then 
  Select Case Number 
  Case "0" : Portd.4 = 0 
  Case Is >= "1" : Portd.4 = 1 
  End Select 
  Goto Program 
  End If 
  If Letter = "e" Then 
  Select Case Number 
  Case "0" : Portd.5 = 0 

  Case Is >= "1" : Portd.5 = 1 
  End Select 
  Goto Program 
  End If 
  If Letter = "f" Then 
  Select Case Number 
  Case "0" : Portb.2 = 0 
  Case Is >= "1" : Portb.2 = 1 
  End Select 
  Goto Program 
  End If 
  If Letter = "d" Then 

  Select Case Number 
  Case "0" : Portb.3 = 0 
  Case Is >= "1" : Portb.3 = 1 
  End Select 
  Goto Program 
  End If 

  If Letter = "c" Then 
  Select Case Number 
  Case "0" : Portb.4 = 0 
  Case Is >= "1" : Portb.4 = 1 
  End Select 
  Goto Program 
  End If 
  If Letter = "b" Then 
  Select Case Number 

  Case "0" : Portb.5 = 0 
  Case Is >= "1" : Portb.5 = 1 
  End Select 
  Goto Program 
  End If 
  If Letter = "g" Then 
  Pulseout Portd , 6 , 500000 
  Waitms 225 

  Pulseout Portd , 6 , 600000 
  Waitms 125 
  Pulseout Portd , 6 , 500000 
  Goto Program 
  End If 
  If Letter = "a" Then 
  Select Case Number 
  Case "0" : Portb.7 = 0 
  Case Is >= "1" : Portb.7 = 1 
  End Select 
  Goto Program 
  End If 
  Loop 

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