How would you work the PWM with multiple sensors? On Tuesday, April 12, 2016 at 10:54:34 AM UTC-7, Ytai wrote: > > No threads involved and nothing asynchronous. You set the PWM once during > setup(), then you getDuration() whenever you please. > On Apr 12, 2016 10:52 AM, "Vic Wintriss" <[email protected] <javascript:>> > wrote: > >> I would rather run the ultrasonics asynchronously. Also since the kids >> may not be be that advanced in our curriculum I prefer to stay away from >> threads. The last code that I posted works fine. >> >> On Tuesday, April 12, 2016 at 10:37:52 AM UTC-7, Ytai wrote: >>> >>> Use PWM output to generate periodic, precisely timed trigger pulses. >>> On Apr 12, 2016 10:36, "Vic Wintriss" <[email protected]> wrote: >>> >>>> I thought I was following your instructions. I am using the 4-pin >>>> sensor as suggested and code that I thought was standard. What did you >>>> tell me to do that I am not doing? >>>> >>>> On Monday, April 11, 2016 at 1:28:48 PM UTC-7, Ytai wrote: >>>>> >>>>> I feel like I gave you my best advice, but you seem to insist on doing >>>>> it in a way that's not supposed to work. >>>>> On Apr 11, 2016 1:03 PM, "Vic Wintriss" <[email protected]> wrote: >>>>> >>>>>> When I use this code: >>>>>> >>>>>> ioio.beginBatch(); >>>>>> rightStrobe.write(true); >>>>>> rightStrobe.write(false); >>>>>> ioio.endBatch(); >>>>>> >>>>>> I get this beautiful result: >>>>>> >>>>>> >>>>>> <https://lh3.googleusercontent.com/-qyhO2zqtmoY/VwwBnL2vE7I/AAAAAAAAAAg/xyOLBnQBnuIvFhdp0IdprRb_qVvx6Hckw/s1600/bad.PNG> >>>>>> >>>>>> But the code hangs up and I get no duration readings. >>>>>> >>>>>> If I use this code: >>>>>> >>>>>> rightStrobe.write(true); >>>>>> SystemClock.sleep(10); >>>>>> rightStrobe.write(false); >>>>>> >>>>>> rightDistance = (int) (rightInput.getDuration() * CONVERSION_FACTOR); >>>>>> I get this awful situation, but it works. Anything less than a 10 >>>>>> millisec sleep fails. >>>>>> >>>>>> >>>>>> <https://lh3.googleusercontent.com/-WEm_XYa5PF8/VwwBBYuVQ9I/AAAAAAAAAAY/15jv4SAWC3ouxIcAW9EyO7GC-SEZgtSZA/s1600/works.png> >>>>>> >>>>>> On Monday, April 4, 2016 at 9:25:36 PM UTC-7, Ytai wrote: >>>>>>> >>>>>>> Sorry, I meant "output" from the IOIO's point of view. >>>>>>> Let me make sure I understand you correctly: are you claiming that >>>>>>> you're emitting a shorter-than-10-ms trigger pulse, the pulse gets >>>>>>> emitted >>>>>>> correctly as verified by a scope, the echo pulse gets emitted correctly >>>>>>> as >>>>>>> verified by a scope, but your app is blocked on waitPulseGetDuration()? >>>>>>> If >>>>>>> that's the case, the only thing I can imagine is that the wait*() >>>>>>> method is >>>>>>> called after the pulse has already comes back. >>>>>>> >>>>>>> Have you considered using PwmOutput as trigger, as per my >>>>>>> suggestion? Then you can use getDuration() and never have to block. I >>>>>>> think >>>>>>> this is a rather elegant solution. >>>>>>> >>>>>>> On Mon, Apr 4, 2016 at 10:51 AM, <[email protected]> >>>>>>> wrote: >>>>>>> >>>>>>>> The output pulse (echo pulse returning from the ultrasonic sensor) >>>>>>>> is correct...it is milli secs long and varies proportionately with the >>>>>>>> distance. I am not using Bluetooth...the Android is directly >>>>>>>> connected to >>>>>>>> the ioio board. It is the trigger pulse that must be long...more than >>>>>>>> 10 >>>>>>>> millisec...for the program to run. It hangs up with smaller trigger >>>>>>>> pulses. I can easily generate 10 microsec trigger pulses...as >>>>>>>> observed on >>>>>>>> scope...but then the program hangs up. Ideas? >>>>>>>> >>>>>>>> On Friday, April 1, 2016 at 9:55:17 PM UTC-7, Ytai wrote: >>>>>>>>> >>>>>>>>> When you look at the waveforms, what do you see as the output >>>>>>>>> pulse? My guess would be that it is very narrow, in the order of a >>>>>>>>> couple >>>>>>>>> of usec perhaps, and if that's indeed the case, it is likely because >>>>>>>>> both >>>>>>>>> messages comprising the pulse got collapsed into the same packet over >>>>>>>>> one >>>>>>>>> of the slower connections such as Bluetooth. In short, trying to >>>>>>>>> achieve >>>>>>>>> precise timing of any sort at this time scale is a bad idea. It would >>>>>>>>> be >>>>>>>>> possible to add a one-shot feature to the IOIO to achieve that. If >>>>>>>>> you want >>>>>>>>> this reading periodically, consider using a PwmOutput to keep >>>>>>>>> triggering >>>>>>>>> the sensor without your intervention at very precise pulse widths and >>>>>>>>> period. Another option would be to use a version of those sensors >>>>>>>>> that >>>>>>>>> emits an analog voltage corresponding to the distance. >>>>>>>>> On Apr 1, 2016 9:38 PM, <[email protected]> wrote: >>>>>>>>> >>>>>>>>>> It's a new iARoC (International Autonomous Robot Competition) >>>>>>>>>> year (2016) and we are back to the ultrasonic sensor problem. This >>>>>>>>>> year I >>>>>>>>>> am using the 4-pin version. The following code works: >>>>>>>>>> >>>>>>>>>> public void readRight() throws ConnectionLostException, >>>>>>>>>> InterruptedException >>>>>>>>>> {//This code works with the 4-pin sensor...don't change anything! >>>>>>>>>> rightStrobe.write(true); >>>>>>>>>> SystemClock.*sleep*(10); >>>>>>>>>> rightStrobe.write(false); >>>>>>>>>> rightDistance = (int) (rightInput.getDuration() * >>>>>>>>>> *CONVERSION_FACTOR*); >>>>>>>>>> } >>>>>>>>>> >>>>>>>>>> But it will not work with less than a 10 ms long trigger pulse. >>>>>>>>>> I don't understand this, because the ultrasonic sensor spec says >>>>>>>>>> that the >>>>>>>>>> trigger pulse should be around 10 micro sec. Do you have any idea >>>>>>>>>> why I >>>>>>>>>> need such a long trigger pulse. I verified the waveforms with a >>>>>>>>>> scope. It >>>>>>>>>> seems to be the case with both the 4-pin and the 3-pin version. >>>>>>>>>> >>>>>>>>>> On Thursday, April 23, 2015 at 9:43:50 PM UTC-7, Ytai wrote: >>>>>>>>>>> >>>>>>>>>>> You can add a TimerTask to interrupt the thread after some >>>>>>>>>>> timeout. Search the forum for examples if you need them. If you >>>>>>>>>>> don't want >>>>>>>>>>> to delay all the other 5 if one is stuck you can easily run 6 >>>>>>>>>>> sensors on 6 >>>>>>>>>>> different threads. >>>>>>>>>>> >>>>>>>>>>> On Wed, Apr 22, 2015 at 2:42 PM, Daniel Brown <[email protected]> >>>>>>>>>>> wrote: >>>>>>>>>>> >>>>>>>>>>>> if one PulseInput pin is open or has not received a pulse and >>>>>>>>>>>> you call getDuration() it will block you from reading all >>>>>>>>>>>> other PulseInput pins until it has received at least one pulse. We >>>>>>>>>>>> have >>>>>>>>>>>> found that one bad sensor will stop you from reading any other >>>>>>>>>>>> sensor. >>>>>>>>>>>> >>>>>>>>>>>> >>>>>>>>>>>> On Friday, April 10, 2015 at 6:59:52 PM UTC-6, Daniel Brown >>>>>>>>>>>> wrote: >>>>>>>>>>>>> >>>>>>>>>>>>> We have a project that uses 6 distance finders, when we try >>>>>>>>>>>>> to call .getDuration() on more then one all further reading >>>>>>>>>>>>> freezes. >>>>>>>>>>>>> >>>>>>>>>>>>> protected void setup() throws ConnectionLostException { >>>>>>>>>>>>> >>>>>>>>>>>>> // front left pulse and echo >>>>>>>>>>>>> echoPinfl_ = ioio_.openPulseInput(6, PulseMode.POSITIVE); >>>>>>>>>>>>> triggerPinfl_ = ioio_.openDigitalOutput(7); >>>>>>>>>>>>> // front middle pulse and echo >>>>>>>>>>>>> echoPinfm_ = ioio_.openPulseInput(2, PulseMode.POSITIVE); >>>>>>>>>>>>> triggerPinfm_ = ioio_.openDigitalOutput(4); >>>>>>>>>>>>> >>>>>>>>>>>>> ... >>>>>>>>>>>>> >>>>>>>>>>>>> public void loop() throws ConnectionLostException, >>>>>>>>>>>>> InterruptedException { >>>>>>>>>>>>> // updates front left sensor >>>>>>>>>>>>> try{ >>>>>>>>>>>>> triggerPinfl_.write(false); >>>>>>>>>>>>> Thread.sleep(5); >>>>>>>>>>>>> triggerPinfl_.write(true); >>>>>>>>>>>>> Thread.sleep(1); >>>>>>>>>>>>> triggerPinfl_.write(false); >>>>>>>>>>>>> echosecondsfl_ = (int)(echoPinfl_.getDuration() * 1000 * 1000); >>>>>>>>>>>>> echoDistanceCmfl_ = echosecondsfl_ / 29 / 2; >>>>>>>>>>>>> }catch (ConnectionLostException e) { throw e;} >>>>>>>>>>>>> // updates front middle sensor >>>>>>>>>>>>> try{ >>>>>>>>>>>>> triggerPinfm_.write(false); >>>>>>>>>>>>> Thread.sleep(5); >>>>>>>>>>>>> triggerPinfm_.write(true); >>>>>>>>>>>>> Thread.sleep(1); >>>>>>>>>>>>> triggerPinfm_.write(false); >>>>>>>>>>>>> // echosecondsfm_ = (int)(echoPinfm_.getDuration() * 1000 * >>>>>>>>>>>>> 1000); //if this line is commented in all further input stops >>>>>>>>>>>>> // echoDistanceCmfm_ = echosecondsfm_ / 29 / 2; >>>>>>>>>>>>> }catch (ConnectionLostException e) { throw e;} >>>>>>>>>>>>> >>>>>>>>>>>>> ... >>>>>>>>>>>>> >>>>>>>>>>>>> On Friday, May 16, 2014 at 11:03:20 AM UTC-6, Ytai wrote: >>>>>>>>>>>>>> >>>>>>>>>>>>>> Thanks for sharing! >>>>>>>>>>>>>> >>>>>>>>>>>>>> >>>>>>>>>>>>>> On Thu, May 15, 2014 at 9:25 PM, <[email protected]> >>>>>>>>>>>>>> wrote: >>>>>>>>>>>>>> >>>>>>>>>>>>>>> Here is some code that works great with the Parallax Ping))) >>>>>>>>>>>>>>> with the circuit in the file attached (thanks to Ytai): >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> private int read(DigitalOutput strobe, PulseInput input, int >>>>>>>>>>>>>>> inputPin) throws ConnectionLostException, InterruptedException >>>>>>>>>>>>>>> // Order of following statements is very important...do not >>>>>>>>>>>>>>> change >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> { >>>>>>>>>>>>>>> int distance = 0; >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> ioio.beginBatch(); >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> strobe.write(true); >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> input = ioio.openPulseInput(inputPin, >>>>>>>>>>>>>>> PulseMode.POSITIVE); >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> ioio.endBatch(); >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> SystemClock.sleep(40); >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> strobe.write(false); >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> distance += (int) (input.getDuration() * >>>>>>>>>>>>>>> CONVERSION_FACTOR); >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> input.close(); >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> return distance; >>>>>>>>>>>>>>> } >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> >>>>>>>>>>>>>>> On Wednesday, April 30, 2014 10:25:27 AM UTC-7, >>>>>>>>>>>>>>> [email protected] wrote: >>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>> I'll clean up the class and post it. Hope other people can >>>>>>>>>>>>>>>> use it. Works very solidly with the Parallax Ping))) >>>>>>>>>>>>>>>> ultrasonic module. >>>>>>>>>>>>>>>> Great suggestion to use only one pin for both input and >>>>>>>>>>>>>>>> output. It would even have saved me a part on the pc boards. >>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>> On Sunday, April 27, 2014 8:24:19 PM UTC-7, Ytai wrote: >>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>> Cool. If you can create a nice class for using the PING >>>>>>>>>>>>>>>>> (where the ctor gets a IOIO and two pin numbers, and there's >>>>>>>>>>>>>>>>> a >>>>>>>>>>>>>>>>> getDistance() method) and share it on this forum, it would be >>>>>>>>>>>>>>>>> a decent >>>>>>>>>>>>>>>>> return for our efforts :) As a side note, since you're doing >>>>>>>>>>>>>>>>> the open-close >>>>>>>>>>>>>>>>> trick, you might as well use a single pin and open-close the >>>>>>>>>>>>>>>>> digital output >>>>>>>>>>>>>>>>> as well and not need the driver chip, so you can even further >>>>>>>>>>>>>>>>> simplify both >>>>>>>>>>>>>>>>> your code and your circuit. >>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>> On Sun, Apr 27, 2014 at 8:19 PM, Vic Wintriss < >>>>>>>>>>>>>>>>> [email protected]> wrote: >>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>> I finally got it to work using your last suggestion. >>>>>>>>>>>>>>>>>> This code works that you recommended works perfectly. >>>>>>>>>>>>>>>>>> Thanks so much for >>>>>>>>>>>>>>>>>> sticking with us. We've got 30 or 40 kids using this code >>>>>>>>>>>>>>>>>> at the >>>>>>>>>>>>>>>>>> International Autonomous Robot Competition (iARoC 2014) >>>>>>>>>>>>>>>>>> coming up at the >>>>>>>>>>>>>>>>>> end of June. Check out iaroc.org. >>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>> triggerHigh(); >>>>>>>>>>>>>>>>>> in = openPulseInput(); >>>>>>>>>>>>>>>>>> sleep(20ms); // wait until the pulse input module is >>>>>>>>>>>>>>>>>> ready for a pulse. >>>>>>>>>>>>>>>>>> triggerLow(); // kick off a measurement (falling edge >>>>>>>>>>>>>>>>>> does not trigger the pulse input) >>>>>>>>>>>>>>>>>> duration = in.getDuration(); >>>>>>>>>>>>>>>>>> in.close(); >>>>>>>>>>>>>>>>>> return duration; >>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>> On Sunday, April 27, 2014 11:36:53 AM UTC-7, Ytai wrote: >>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>> Let me shed some light on the internals of PulseInput: >>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>> - A timer is running on the IOIO set to 200Hz (5ms). >>>>>>>>>>>>>>>>>>> - As soon as the pulse input module is opened, and >>>>>>>>>>>>>>>>>>> every time after a pulse is captured the module will be >>>>>>>>>>>>>>>>>>> put in the "ready" >>>>>>>>>>>>>>>>>>> state. >>>>>>>>>>>>>>>>>>> - Every time the 200Hz timer triggers, each "ready" >>>>>>>>>>>>>>>>>>> module will be activated, i.e. put in a state where it >>>>>>>>>>>>>>>>>>> is waiting for a new >>>>>>>>>>>>>>>>>>> pulse. >>>>>>>>>>>>>>>>>>> - Once activated, the module will wait forever (or >>>>>>>>>>>>>>>>>>> until closed) for a pulse, then measure its duration, >>>>>>>>>>>>>>>>>>> then sends the result >>>>>>>>>>>>>>>>>>> to the Android. >>>>>>>>>>>>>>>>>>> - So this means that effectively no matter what the >>>>>>>>>>>>>>>>>>> actual pulse rate is, you will never get more than 200 >>>>>>>>>>>>>>>>>>> reports per second. >>>>>>>>>>>>>>>>>>> This has been done on purpose to prevent a high >>>>>>>>>>>>>>>>>>> frequency pulse train from >>>>>>>>>>>>>>>>>>> saturating the connection between the IOIO and the >>>>>>>>>>>>>>>>>>> Android. This also means >>>>>>>>>>>>>>>>>>> that there is a potential "dead time" of up to 5ms after >>>>>>>>>>>>>>>>>>> opening or between >>>>>>>>>>>>>>>>>>> pulses, during which a pulse would not be detected. >>>>>>>>>>>>>>>>>>> - On the Android side, every pulse report finds its >>>>>>>>>>>>>>>>>>> way to your PulseInput object. You can then read it in >>>>>>>>>>>>>>>>>>> one of three ways: >>>>>>>>>>>>>>>>>>> - getDuration() will return the last report. It >>>>>>>>>>>>>>>>>>> will generally not block, then only exception is >>>>>>>>>>>>>>>>>>> until the first report >>>>>>>>>>>>>>>>>>> arrives. >>>>>>>>>>>>>>>>>>> - getDurationSync() will always block until a new >>>>>>>>>>>>>>>>>>> report comes in, then return it. So you can be sure >>>>>>>>>>>>>>>>>>> that the report is new. >>>>>>>>>>>>>>>>>>> - getDurationBuffered() pulls pulses one by one >>>>>>>>>>>>>>>>>>> from a queue. When the queue becomes empty it behave >>>>>>>>>>>>>>>>>>> like >>>>>>>>>>>>>>>>>>> getDurationSync(), i.e. waits until a new report >>>>>>>>>>>>>>>>>>> comes in. >>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>> The Arduino approach cannot be directly applied to the >>>>>>>>>>>>>>>>>>> IOIO API, since you have to take into account that because >>>>>>>>>>>>>>>>>>> of the >>>>>>>>>>>>>>>>>>> communication between the Android and the IOIO, much of the >>>>>>>>>>>>>>>>>>> IOIO API has >>>>>>>>>>>>>>>>>>> been designed to be asynchronous in nature. If you were to >>>>>>>>>>>>>>>>>>> bake the PING >>>>>>>>>>>>>>>>>>> driver directly into the IOIO firmware, you can use a >>>>>>>>>>>>>>>>>>> similar approach to >>>>>>>>>>>>>>>>>>> Arduino's (although you'd probably want to implement it in >>>>>>>>>>>>>>>>>>> a non-blocking >>>>>>>>>>>>>>>>>>> way, since the IOIO allows everything to be used >>>>>>>>>>>>>>>>>>> concurrently). The reason >>>>>>>>>>>>>>>>>>> why I have not done that is because I tried to focus on >>>>>>>>>>>>>>>>>>> generic use-cases >>>>>>>>>>>>>>>>>>> rather than on one peculiar sensor interface. >>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>> On Sun, Apr 27, 2014 at 10:57 AM, Duane DeSieno < >>>>>>>>>>>>>>>>>>> [email protected]> wrote: >>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>> My confusion is maybe over the way getDuration works. >>>>>>>>>>>>>>>>>>>> Does it delay 5ms before looking for the pulse or does >>>>>>>>>>>>>>>>>>>> it look immediately? >>>>>>>>>>>>>>>>>>>> I put 555 timer on the input pin and set it up for >>>>>>>>>>>>>>>>>>>> 3.15hz and 25.4% duty cycle or an 80.6ms pulse every >>>>>>>>>>>>>>>>>>>> 317.4ms. >>>>>>>>>>>>>>>>>>>> I called getDuration roughly every 100ms. It did not >>>>>>>>>>>>>>>>>>>> block and returned the same value several times before the >>>>>>>>>>>>>>>>>>>> next pulse >>>>>>>>>>>>>>>>>>>> occurred(not what I expected). >>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>> Looked at the Arduino approach to using the PING and >>>>>>>>>>>>>>>>>>>> they use just one pin, changing from output after sending >>>>>>>>>>>>>>>>>>>> a pulse to ping >>>>>>>>>>>>>>>>>>>> to an input for their get duration call. >>>>>>>>>>>>>>>>>>>> Since they don't impose a 5ms delay, they get the >>>>>>>>>>>>>>>>>>>> duration of the return pulse. >>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>> Thanks for you help on this. >>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>> Duane >>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>> >>>>>>>>>>>>>>>>>>>> -- >>>>>>>>>>>>>>>>>>>> You received this message because you are subscribed to >>>>>>>>>>>>>>>>>>>> the Google Groups "ioio-users" group. >>>>>>>>>>>>>>>>>>>> To unsubscribe from this group and stop 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