Hi,
I'm trying to get started with the microphone function of the e-puck. My
problem is getting any one of the microphones to listen for any level of
sound. I then want to check that level, if it's beyond a certain integer I
turn on an LED. I know to get a better reading I set the robot to listen
for as period of time, then I take the absolute of these samples. This way
it shouldn't miss a noise too. But my code doesn't seem to function
properly and I'm unable to figure out why. I think it has something to do
with the e_get_micro, but this function isn't very well documented.
Any help would be greatly appreciated.
The following is my code so far, ignore the proximity handling:
#include <motor_led/e_init_port.h>
#include <motor_led/e_epuck_ports.h>
#include <motor_led/advance_one_timer/e_agenda.h>
#include <motor_led/advance_one_timer/e_motors.h>
#include <motor_led/advance_one_timer/e_led.h>
#include <codec/e_sound.h>
#include <p30f6014A.h>
#include <a_d/advance_ad_scan/e_prox.h>
#include <a_d/advance_ad_scan/e_ad_conv.h>
#include <dsp.h>
#include <fft/e_fft.h>
#include <fft/e_fft_utilities.h>
#include <a_d/e_ad_conv.h>
#include <a_d/e_ad_conv.c>
#include <a_d/e_micro.c>
#define _MOTORS
int proxy0;
int proxy1;
int proxy2;
int proxy3;
int proxy4;
int proxy5;
int proxy6;
int proxy7;
int m0;
int m1;
int m2;
void blink_body(void)
{
BODY_LED = BODY_LED^1;
}
//----------Methods to alternate on and off for led's creating blinking
effect---
void blink_led0(void)
{
if (LED0 == 1)
LED0 = 0;
else
LED0 = 1;
}
void blink_led1(void)
{
if (LED1 == 1)
LED1 = 0;
else
LED1 = 1;
}
void blink_led2(void)
{
if (LED2 == 1)
LED2 = 0;
else
LED2 = 1;
}
void blink_led3(void)
{
if (LED3 == 1)
LED3 = 0;
else
LED3 = 1;
}
void blink_led4(void)
{
if (LED4 == 1)
LED4 = 0;
else
LED4 = 1;
}
void blink_led5(void)
{
if (LED5 == 1)
LED5 = 0;
else
LED5 = 1;
}
void blink_led6(void)
{
if (LED6 == 1)
LED6 = 0;
else
LED6 = 1;
}
void blink_led7(void)
{
if (LED7 == 1)
LED7 = 0;
else
LED7 = 1;
}
void forward(){
e_set_speed_left(500);
e_set_speed_right(500);
}
void stop(){
e_set_speed_left(0);
e_set_speed_right(0);
}
void backward(){
e_set_speed_left(-500);
e_set_speed_right(-500);
}
// Left turning methods
void left_turn1(){
e_set_speed_right(500);
e_set_speed_left(-600);
}
void left_turn2(){
e_set_speed_right(500);
e_set_speed_left(-500);
}
void left_turn3(){
e_set_speed_right(500);
e_set_speed_left(-200);
}
// Right turning methods
void right_turn1(){
e_set_speed_left(500);
e_set_speed_right(-600);
}
void right_turn2(){
e_set_speed_left(500);
e_set_speed_right(-500);
}
void right_turn3(){
e_set_speed_left(500);
e_set_speed_right(-200);
// Pointers made to each microphone
/*
void e_get_micro(int *m0, int *m1,int *m2)
{
T1CONbits.TON = 0;//cut of proximity timer
*m0=e_read_ad(0);
*m1=e_read_ad(1);
*m2=e_read_ad(2);
T1CONbits.TON = 1;
}
*/
int main()
{
e_init_port(); // initialize e-puck ports
e_init_micro(); // initialize e-puck microphones
e_start_agendas_processing();// start Timer 2 processing tasks
e_init_motors(); // setup the motors to use Agenda
while(1){
int I;
long x;
long y;
long z;
x = 0;
y = 0;
z = 0;
for(I=0; I<100; I++){
e_get_micro(&m0, &m1, &m2);
x +=abs(m0);
y +=abs(m1);
z +=abs(m2);
}
if (x < 200) LED1 = 1 ; else LED1 = 0 ;
if (x < 2000) LED2 = 1 ; else LED2 = 0 ;
if (x < 20000) LED3 = 1 ; else LED3 = 0 ;
if (x < 200000) LED4 = 1 ; else LED4 = 0 ;
if (x < 2000000) LED5 = 1 ; else LED5 = 0 ;
//~ if(x < 20000) LED2 = 0; else LED2 = 1;
//~
//~ if(y < 2000) LED4 = 0; else LED4 = 1;
//~
//~ if(z < 2000) LED6 = 0; else LED6 = 1;
//---Proximity Sensor handling for collision detection----
proxy0 = e_get_prox(0);
proxy1 = e_get_prox(1);
proxy2 = e_get_prox(2);
proxy3 = e_get_prox(3);
proxy4 = e_get_prox(4);
proxy5 = e_get_prox(5);
proxy6 = e_get_prox(6);
proxy7 = e_get_prox(7);
//---IR sensor 0---//
if(proxy0 <1000){
LED0 = 0;
}
else{
LED0 = 1;
//e_set_speed_left(-600);
left_turn1();
}
//---IR sensor 1---//
if(proxy1 < 1000){
LED1 = 0;
}
else{
LED1 = 1;
//e_set_speed_left(-500);
left_turn2();
}
//---IR sensor 2---//
if(proxy2 < 1000){
LED2 = 0;
}
else{
LED2 = 1;
//e_set_speed_left(-200);
left_turn3();
}
//---IR sensor 3---//
if(proxy3 < 1000){
//LED3 = 0;
LED4 = 0;
}
else{
//LED3 = 1;
LED4 = 1;
//e_set_speed_left(500);
//e_set_speed_right(500);
forward();
}
//---IR sensor 4---//
if(proxy4 < 1000){
//LED3 = 0;
LED4 = 0;
}
else{
//LED3 = 1;
LED4 = 1;
//e_set_speed_left(500);
//e_set_speed_right(500);
forward();
}
//---IR sensor 5---//
if(proxy5 < 1000){
LED6 = 0;
}
else{
LED6 = 1;
//e_set_speed_right(-200);
right_turn3();
}
//---IR sensor 6---//
if(proxy6 < 1000){
LED7 = 0;
}
else{
LED7 = 1;
//e_set_speed_right(-500);
right_turn2();
}
//---IR sensor 7---//
if(proxy7 < 1000){
LED0 = 0;
}
else{
LED0 = 1;
//e_set_speed_right(-600);
right_turn1();
}
}
}
--
The Sunday Times Scottish University of the Year 2009/2010
The University of Stirling is a charity registered in Scotland,
number SC 011159.
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