RodBird
Feb 2, 2016
=Having fun with the Arduino=
//rodbird//
[[toc]]
[[image:arduino.png]]
The Arduino is a much loved general purpose input and output board. It has a huge following and lots of support. This article is about how you can interface the board via the serial port and so give Liberty BASIC access to all that the board has to offer.
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=Start simply=
If this is your first step into microprocessor control board electronics my advice would be to start simply. Purchase a Uno Kit. There are several kits all easily obtainable, each provides the board, electronic components and usually a booklet to get you up and running quickly.
Some kits use soldered components, others offer plug in breadboard connection or ready made plug and socket connectors. Probably best to opt for plug in breadboard style which lets you build circuits quickly while you play and learn.
This is all the kit you need to get started:
[[image:arduino3.png]] [[image:arduino.png]] [[image:arduino2.png]]
Purchase this kind of kit and play with it for a day or so, follow the tutorials available online or use the booklet. Get to the point where you have downloaded your own sketch to make the Arduino board LED flash. Now you are ready to unleash Liberty BASIC.
=The Sketch=
You will now know that the Arduino board uses a BASIC like programming language but there are significant differences to Liberty BASIC. These programs are called Sketches and you write them on your PC and download them to the Arduino board which fires up and runs autonomously. You can go and learn this language and you probably will over time, but right now we are going to use a general purpose Sketch written by the Liberty BASIC community. This Sketch allows simple serial messages to control and receive info from the board. So the board is running autonomously but it is dedicated to interpreting and actioning our control requests. It has become a slave to Liberty BASIC.
Here is the Sketch, you will need to download it to your Arduino board, follow the booklet instructions on how to do that.
[[code format="lb"]]
#include <Servo.h>
// set up 14 servo objects in an array
Servo myservos[14] ;
void setup() {
Serial.begin(9600);
Serial.println("Com Open");
}
void loop() {
// you can call your own functions here
// lbRun() is only called by interrupt
// when there is serial data available
}
// serialEvent checks to see if data is available on serial port
// when a message comes we just invoke our lbRun() function
void serialEvent(){
// check if data available, if so call the lbRun() routine
if ( Serial.available()) {
lbRun();
}
}
void lbRun()
{
while (Serial.available() > 9)
{
// look for the next valid integer in the incoming serial stream:
int cmd = Serial.parseInt();
// do it again:
int pin = Serial.parseInt();
// do it again:
int val = Serial.parseInt();
// look for the "*", That's the end of our command string
if (Serial.read() == '*')
{
//now select the command to run and use the pin and val argument
if ( cmd == 0)//add servo
{
myservos[pin].attach(pin);
}
if ( cmd == 9)//detach servo
{
myservos[pin].detach();
}
if ( cmd == 1)//getdigital
{
pinMode(pin, INPUT);//set to input
digitalWrite(pin, HIGH);//turn on pullup resistor
Serial.print(pin);
Serial.print(",");
Serial.print(digitalRead(pin));
Serial.print("*");
}
if ( cmd == 4)//setdigital
{
pinMode(pin, OUTPUT);//set to ouput
digitalWrite(pin, val);
}
if ( cmd == 5)//setPWM
{
analogWrite(pin, val);
}
if ( cmd == 2)//getanalog
{
analogRead(pin);
delay(10);
Serial.print(pin);
Serial.print(",");
Serial.print(analogRead(pin));
Serial.print("*");
}
if ( cmd == 6)//setservo
{
myservos[pin].write(val) ;
}
if ( cmd == 7)//settone
{
if (val == 0)
{
noTone(pin);
}
else
{
tone(pin, val);
}
}
if ( cmd == 3)//getpulse
{
Serial.print(pin);
Serial.print(",");
Serial.print(pulseIn(pin, val));
Serial.print("*");
}
if ( cmd == 8)//ping
{
// establish variables for duration of the ping,
long duration;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
delayMicroseconds(2);
digitalWrite(pin, HIGH);
delayMicroseconds(5);
digitalWrite(pin, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(pin, INPUT);
duration = pulseIn(pin, HIGH);
Serial.print(pin);
Serial.print(",");
Serial.print(duration);
Serial.print("*");
}
}
}
} // end or lbRun()
// add your own functions here
[[code]]
Very briefly this Sketch loads the servo control library then starts polling the serial buffer looking for complete messages that we have sent over the serial link from Liberty BASIC. When it finds a complete message it interprets or parses that message to establish what we are asking it to do. Then on a simple select case basis it actions that request returning results if needed. We will pick out and explain what each part of the sketch achieves as we discuss the commands it understands.
=The message format=
A Liberty BASIC message is sent in the following fixed length format, numeric values have leading zeros:
[[code]]
"CCPPAAAA*"
[[code]]
Where:
CC = a two digit number specifying which command to action
PP = a two digit number specifying which pin to act on
AAAA = a four digit number passing the value to apply
followed by a terminating "*"
Responses, if issued, are received in a variable length message, comma delimited, in the following format:
[[code]]
"PP,RRRR*"
[[code]]
Where:
PP = up to two digits specifying the pin producing the result
RRRR = up to four digits providing the numeric result
followed by a terminating "*"
=Making the connection=
The first thing we need to do is open the serial link and connect to the Arduino. If you have plugged in the USB serial cable Windows will have opened a Com port and the Arduino will be checking it. All we need do is find the port number and start conversing.
Here is some code that will find the com port and allow it to be opened. It uses a combobox, the combobox is filled with available ports and you then pick which one you want to talk to. So you may have more than one Arduino connected but most often we will be dealing with one port and one board and the code should automatically select that port.
Now we could write really simple code in the mainwin. It is perfectly possible to open the com port and send and receive messages from there. However there is likely to be a lot happening once we build the whole application so lets build a GUI interface.
[[code format="lb"]]
nomainwin
WindowWidth = 550
WindowHeight = 195
UpperLeftX=int((DisplayWidth-WindowWidth)/2)
UpperLeftY=int((DisplayHeight-WindowHeight)/2)
combobox #main.cbport, port$(, portClick, 5, 80, 50, 100
statictext #main.stport, "Com Port", 5, 60, 60, 20
open "Arduino simple interface" for window as #main
#main "trapclose quit"
'Now find and list the com ports
'We need an array to store the Com port names in
dim port$(256)
'since we plan to use Subs we need a few globals
'I tend to identify global variables with a capital letter
global Port
Port=0
'find out what com ports are available and load the combobox
call getPorts
wait
'Subs to handle the com port ==============================================
sub portClick h$
'take com port combobox input, open chosen com port
#main.cbport "selection? p$"
if Port then close #port
if p$<>"" then
open p$;":9600,n,8,1,ds0,cs0,rs" for random as #port
Port=1
call delay 500
end if
end sub
sub getPorts
'test first 32 ports and load combobox list for valid serial ports
index=1
for p = 1 to 32
oncomerror [trap]
open "Com";str$(p);":9600,n,8,1,ds0,cs0,rs" for random as #com
port$(index)="Com";str$(p)
index=index+1
close #com
[trap]
oncomerror
next
#main.cbport, "reload"
'now if there is only one port open it
if port$(1)<>"" and port$(2)="" then
open port$(1);":9600,n,8,1,ds0,cs0,rs" for random as #port
Port=1
#main.cbport, "selectindex 1"
call delay 500
else
#main.cbport, "selectindex 0"
end if
end sub
sub delay m
CallDLL #kernel32, "Sleep", m As ulong, Sleep As void
end sub
sub quit h$
close #main
if Port then close #port
end
end sub
[[code]]
=Starting the conversation=
I say conversation because you will be sending and receiving messages. You might do this statically. That is send one message and wait for the response, or you might do it on a timed basis, regularly graphing and displaying the results. The system is quite fast. Obviously the serial link and message passing is a bottleneck compared with how fast the Arduino would run unfettered but you will be able to get many readings per second.
Now lets add some code that will manage the conversation. We need a send routine and a receive routine The send routine is pretty straight forwards because we initiate the message. The receiving is a little more complex because we may be receiving a stream of messages.
=The command list=
----
==AddServo==
Command = 00 , Pin Range = 0-13, Argument = Null, Response = Null
Servos must first be assigned a pin, use of the library disables PWM on pins 9 and 10
[[code]]
if ( cmd == 0)//add servo
{
myservos[pin].attach(pin);
}
[[code]]
==GetDigital==
Command = 01, Pin Range = 0-13, Argument = Null, Response = pin,0 or 1
The pin is set to input and the pullup resistor set high,ground the pin via a switch/sensor to pull it low.
If the pin is low 0 will be returned if high 1 will be returned.
[[code]]
if ( cmd == 1)//getdigital
{
pinMode(pin, INPUT);//set to input
digitalWrite(pin, HIGH);//turn on pullup resistor
Serial.print(pin);
Serial.print(",");
Serial.print(digitalRead(pin));
Serial.print("*");
}
[[code]]
==GetAnalog==
Command = 02, Pin Range 0-5 (analog), Argument = Null, Response = pin,0-1023
The analog pins 0-5 return 0-1023 measuring 0-5v on the pin, connect
pots, LDRs, Thermistors or any resistance based sensor.
[[code]]
if ( cmd == 2)//getanalog
{
analogRead(pin);
delay(10);
Serial.print(pin);
Serial.print(",");
Serial.print(analogRead(pin));
Serial.print("*");
}
[[code]]
==GetPWM==
Command = 03, Pin Range 0-13, Argument = 1 or 0, Response = pin,microseconds
Sending 0 as the Argument will measure the low pulse 1 will measure the high pulse,
connect gyros and accelerometers that provide PWM output.
[[code]]
if ( cmd == 3)//getpulse
{
Serial.print(pin);
Serial.print(",");
Serial.print(pulseIn(pin, val));
Serial.print("*");
}
[[code]]
==SetDigital==
Command = 04, Pin Range = 0-13, Argument = 0 or 1, Response = Null
This will set the pin HIGH or LOW use with LEDs or driver electronics to switch relays or pulse motors.
[[code]]
if ( cmd == 4)//setdigital//
{
pinMode(pin, OUTPUT);//set to ouput
digitalWrite(pin, val);
}
[[code]]
==SetPWM==
Command = 05, Pin Range = 3,5,6,9,10,11 , Argument = 0-255, Response = Null
This sets the PWM ratio on any of the legal pins from 0% HIGH to 100% HIGH
connect LEDs to fade or brighten or with driver electronics control motor speed.
[[code]]
if ( cmd == 5)//setPWM
{
analogWrite(pin, val);
}
[[code]]
==SetServo==
Command = 06 , Pin Range = 0-13, Argument = 0o to 180o, Response = Null
This sets the servo angle in degrees. But many electronic motor control (ESCs) and gyro
gadgets use this form of PWM output. Forward and reverse motor speed control and gyro
stabilised servo control are all possible.
[[code]]
if ( cmd == 6)//setservo
{
myservos[pin].write(val) ;
}
[[code]]
==SetTone==
Command = 07 , Pin Range = 0-13, Argument = Hz 31 - 4978, Response = Null
Only one pin can output a tone at any time, sending 0 silences the tone.
A tone between 31Hz and 4978Hz can be specified it plays till silenced.
[[code]]
if ( cmd == 7)//settone
{
if (val == 0)
{
noTone(pin);
}
else
{
tone(pin, val);
}
}
[[code]]
==Ping==
Command = 08, Pin Range = 0-13, Argument = Null, Response = pin,microseconds
This pings an ultrasonic transducer, divide the result by 29 then 2 to get cm distance.
29 is the number of cm sound will travel in a microsecond, we divide by 2 because
the sound is bounced out and back.
[[code]]
if ( cmd == 8)//ping
{
// establish variables for duration of the ping,
long duration;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
delayMicroseconds(2);
digitalWrite(pin, HIGH);
delayMicroseconds(5);
digitalWrite(pin, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(pin, INPUT);
duration = pulseIn(pin, HIGH);
Serial.print(pin);
Serial.print(",");
Serial.print(duration);
Serial.print("*");
}
[[code]]
==DelServo==
Command = 09 , Pin Range = 0-13, Argument = Null, Response = Null
Servos must be detached for the pin to be reused, when all are detached pin 9 and 10
are reenabled for PWM
[[code]]
if ( cmd == 9)//detach servo
{
myservos[pin].detach();
}
[[code]]
=Third Part Title=
Text here.
[[code format="lb"]]
'code here
[[code]]
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