I am trying to make a human detection robot using D6T omron thermal sensor. However, I am facing some problem here. My Arduino Uno didn't run the sketches until I open up my GUI in processing. The tx/rx pin did not light up when I remove my USB serial cable from my PC and put in an external power supply to my arduino uno board. The tx/rx pin will only light up when I open my GUI in processing and everything works just fine.
I am trying to move my robot away from my PC. Therefore, it is a must for me to provide my board an external power supply but it just does not work. I am confused here. Fyi, it will be interfacing with my PC thru Xbee in the near future.
Ps: this is my final year project. Your effort will be much appreciated and credits will goes to you. Thanks guys!
Attached below is my code (Arduino sketch):
#define E_right 10
#define E_left 11
int RightMotorForward = 9; // Pin 10 has Left Motor connected on Arduino boards.
int RightMotorReverse = 8; // Pin 9 has Left Motor connected on Arduino boards.
int LeftMotorForward = 12; // Pin 12 has Right Motor connected on Arduino boards.
int LeftMotorReverse = 13; // Pin 13 has Right Motor connected on Arduino boards.
float top_sum, bottom_sum, left_sum, right_sum, center_row_sum;
#include <Wire.h>
#include <WireExt.h>
#define D6T_addr 0x0A
#define D6T_cmd 0x4C
int rbuf[35];
float tdata[16];
float t_PTAT;
void setup()
{
Wire.begin();
Serial.begin(9600);
Serial.flush();
pinMode(E_right, OUTPUT);
pinMode(E_left, OUTPUT);
pinMode(LeftMotorForward, OUTPUT); // initialize the pin as an output.
pinMode(RightMotorForward, OUTPUT); // initialize the pin as an output.
pinMode(LeftMotorReverse, OUTPUT); // initialize the pin as an output.
pinMode(RightMotorReverse, OUTPUT); // initialize the pin as an output.
}
//-----------------------------------------------------------------------------
// The following Loop is to make the Robot move towards heat source.
void loop()
{
int i;
if (Serial.available() > 0) {
int inByte = Serial.read();
if (inByte == 0x0001) {
Wire.beginTransmission(D6T_addr);
Wire.write(D6T_cmd);
Wire.endTransmission();
if (WireExt.beginReception(D6T_addr) >= 0) {
i = 0;
for (i = 0; i < 35; i++) {
rbuf[i] = WireExt.get_byte();
}
WireExt.endReception();
t_PTAT = (rbuf[0]+(rbuf[1]<<8))*0.1;
for (i = 0; i < 16; i++) {
tdata[i]=(rbuf[(i*2+2)]+(rbuf[(i*2+3)]<<8))*0.1;
}
}
}
}
top_sum= tdata[0] + tdata[1] + tdata[2] + tdata[3];
bottom_sum= tdata[12] + tdata[13] + tdata[14] + tdata[15];
right_sum= tdata[0]+ tdata[4] + tdata[8] + tdata[12];
left_sum= tdata[3] + tdata[7] + tdata[11] + tdata[15];
center_row_sum= tdata[1] + tdata[2] + tdata[5] + tdata[6] + tdata[9] + tdata[10] + tdata[13] + tdata[14];
if ((left_sum>center_sum)&& (center_sum>right_sum))
{
analogWrite(E_right, 230);
analogWrite(E_left, 205);
digitalWrite(RightMotorForward, HIGH); // turn the Right Motor ON
digitalWrite(LeftMotorForward, LOW); // turn the Left Motor OFF
// wait for 0.5 seconds
delay(500);
//turn left
}
else if ((right_sum>center_sum)&&(center_sum>left_sum))
{
analogWrite(E_right, 230);
analogWrite(E_left, 205);
digitalWrite(RightMotorForward, LOW); // turn the Right Motor OFF
digitalWrite(LeftMotorForward, HIGH); // turn the Left Motor ON
// wait for 0.5 seconds
delay(500);
//turn right
}
else if ((center_row_sum>right_sum)&&(center_row_sum>left_sum))
{
analogWrite(E_right, 230);
analogWrite(E_left, 205);
digitalWrite(RightMotorForward, HIGH); // turn the Right Motor ON
digitalWrite(LeftMotorForward, HIGH); // turn the Left Motor ON
delay(500); //forward
}
}
Attached below is my code in processing:
import processing.serial.*;
float[] tdata = new float[17];
float tptat; // PTAT
String portName;
//int serialport = 0;
String buf;
float colourGreen; //change green in relation to temperature
int lbTemp = 25; //lowest relative temperature
int hbTemp = 35; //highest relative temperature
Serial myPort; // Create object from Serial class
void setup() {
size(640,640);
//println(Serial.list());
//portName = Serial.list()[serialport];
myPort = new Serial(this, "COM7", 9600);
myPort.clear();
}
void draw() {
myPort.write(0x01);
delay(100);
while (myPort.available() > 0) {
delay(300);
buf = myPort.readString();
myPort.clear();
tdata = float(split(buf, ','));
for (int i = 0; i <16; i++) {
colourGreen = map(tdata[i],lbTemp,hbTemp,255,0);
fill (255,colourGreen,0);
if (i == 0)
{ rect(480,0,160,160);}
else if (i == 1)
{ rect(320,0,160,160);}
else if (i == 2)
{ rect(160,0,160,160);}
else if (i == 3)
{ rect(0,0,160,160);}
else if (i == 4)
{ rect(480,160,160,160);}
else if (i == 5)
{ rect(320,160,160,160);}
else if (i == 6)
{ rect(160,160,160,160);}
else if (i == 7)
{ rect(0,160,160,160);}
else if (i == 8)
{ rect(480,320,160,160);}
else if (i == 9)
{ rect(320,320,160,160);}
else if (i == 10)
{ rect(160,320,160,160);}
else if (i == 11)
{ rect(0,320,160,160);}
else if (i == 12)
{ rect(480,480,160,160);}
else if (i == 13)
{ rect(320,480,160,160);}
else if (i == 14)
{ rect(160,480,160,160);}
else
{ rect(0,480,160,160); }
if (tdata[i]<5) {fill(255);} else {fill(0);}
if (i ==0)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]),560, 80);}
else if (i == 1)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]),400, 80);
}
else if (i == 2)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 240, 80);
}
else if (i == 3)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]),80, 80);
}
else if (i == 4)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 560, 240);
}
else if (i == 5)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 400, 240);
}
else if (i == 6)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 240, 240);
}
else if (i == 7)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 80, 240);
}
else if (i == 8)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 560, 400);
}
else if (i == 9)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 400, 400);
}
else if (i == 10)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 240, 400);
}
else if (i == 11)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 80, 400);
}
else if (i == 12)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 560, 560);
}
else if (i == 13)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 400, 560);
}
else if (i == 14)
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 240, 560);
}
else
{
textAlign(CENTER, CENTER);
textSize(20);
text(str(tdata[i]), 80, 560);
}
}
delay(800);
}
}
