Subject:
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Re: reading sensors on CM
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 3 Jan 2001 17:51:30 GMT
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Original-From:
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Marco C. <marco@=SayNoToSpam=soporcel.pt>
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Viewed:
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836 times
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Hi :)
[Note1: CM = CyberMaster; pBrick = { CM | RCX | Scout | RCX2 } ]
[Note2: I think this could be usefull to others = CC:lego-robotics]
[Note3: I'm showing source code done by Mark Overmars = CC:markov+lego]
Well, all my PC apps were done with Delphi using the Spirit.OCX API (it
comes with the CM CD and it gets installed with the rest of the CM software).
I also did something in BASIC, sending the opcodes directly, with a i8086
laptop :P but that doesn't count.
My recomendation to you is: You should checkout the LEGO Spirit.OCX API
documentation.
I can't remember right now the link to the .PDF but it's (was?) in the
http://mindstorms.lego.com site.
The link has been referenced many times in LUGNET. You'll have to do a
search to "Spirit" or "Spirit.OCX" 'cause I don't have it here right now.
This API documentation is good, even if you're going to send opcodes
directly to the pBrick (as it seems you are doing) instead of using the
Spirit API (Windows-ware only, OS dependent.)
There you can see many opcode arguments like this one.
From what I remember, in this case, I think the "source" is what specifies
the source of the value. It can come from a memory var, from a sensor,
timer, tachometer, speed, agv, etc. You must specify which one.
There's a table to know these source codes (in spirit docs).
Looking at this very usefull piece of Delphi code from Mark Overmars's RCX
Command Center 3.1 source code (http://www.cs.uu.nl/~markov/lego/), you can
see what I mean.
Look at the MainForm.RCX.Poll(source,argument).
You can see that, to get Sensor1 the source=9 and argument=0;
Sensor2->source=9, argument=1 and so on...
Hope it helps :)
------8<---------------------------------------------------------------------
{ This was taken from http://www.cs.uu.nl/~markov/lego/ }
{ RCX Command Center Source Code version 3.1 by Mark Overmars }
function GetMotorData(numb:integer):string;
var ttt:integer;
str:string;
begin
ttt:= MainForm.RCX.Poll(3,numb);
str:='';
if ttt div 128 = 1 then str:=str+' On ' else str:=str+'Off ';
if (ttt mod 128) div 64 = 1 then str:=str+'Brake ' else str:=str+'Float ';
if (ttt mod 16) div 8 = 1 then str:=str+'Fwd ' else str:=str+'Rev ';
str:=str+Format(' %d', [ttt mod 8]);
GetMotorData := str;
end;
procedure TWatchForm.PollNowClick(Sender: TObject);
var i:integer;
begin
if busy then exit; // Avoid polling while polling
busy:=true;
try
for i:=0 to 31 do
if TCheckBox(FindComponent(Format('CVar%d',[i]))).Checked then
TEdit(FindComponent(Format('VVar%d',[i]))).Text :=
Format('%6d',[MainForm.RCX.Poll(0,i)]);
if CheckSensor1.Checked then
ValueSensor1.Text := Format('%6d',[MainForm.RCX.Poll(9,0)]);
if CheckSensor2.Checked then
ValueSensor2.Text := Format('%6d',[MainForm.RCX.Poll(9,1)]);
if CheckSensor3.Checked then
ValueSensor3.Text := Format('%6d',[MainForm.RCX.Poll(9,2)]);
if CheckMotorA.Checked then
ValueMotorA.Text := GetMotorData(0);
if CheckMotorB.Checked then
ValueMotorB.Text := GetMotorData(1);
if CheckMotorC.Checked then
ValueMotorC.Text := GetMotorData(2);
if CheckTimer0.Checked then
ValueTimer0.Text := Format('%6d',[MainForm.RCX.Poll(1,0)]);
if CheckTimer1.Checked then
ValueTimer1.Text := Format('%6d',[MainForm.RCX.Poll(1,1)]);
if CheckTimer2.Checked then
ValueTimer2.Text := Format('%6d',[MainForm.RCX.Poll(1,2)]);
if CheckTimer3.Checked then
ValueTimer3.Text := Format('%6d',[MainForm.RCX.Poll(1,3)]);
if CheckMessage.Checked then
ValueMessage.Text := Format('%6d',[MainForm.RCX.Poll(15,0)]);
if CheckTCounter.Checked then
ValueTCounter.Text := Format('L:%6d R:%6d',
[MainForm.RCX.Poll(5,0),MainForm.RCX.Poll(5,1)]);
if CheckTSpeed.Checked then
ValueTSpeed.Text := Format('L:%6d R:%6d',
[MainForm.RCX.Poll(6,0),MainForm.RCX.Poll(6,1)]);
if CheckMCurrent.Checked then
ValueMCurrent.Text := Format('%6d',[MainForm.RCX.Poll(7,2)]);
except
ShowMessage('Cannot find the RCX anymore');
Timer1.Enabled := false;
PollRegularBtn.Down := false;
busy:=false;
exit;
end;
busy:=false;
end;
------8<---------------------------------------------------------------------
At 17:33 03-01-2001 +0100, you wrote:
> Hi,
>
> after hunting the lugnet for an hour or two, I encountered
> some mail of yours that made me think you might know the answer to the below.
>
> I'm writing sw to drive my CM from my PC (laptop). The CM has too little
> memory to download sw to it, so I'll be treating it as a 'terminal'
>
> Then I couldn't find how to read sensors into the PC. Petere Ljungstrand
> suggested that this should be done with the 'Get Value' opcode.
> Kekoa's RCX Opcode ref however is to fuzzy to me:
>
> Get Value
> 12/1a Request
>
> byte source source type for value. Sources 2 and 4 not allowed
> byte argument argument for value
>
> Request the value specified by 'source' and 'argument'.
>
> e5/ed Reply
>
> short value Return value
>
>
> I don't know what to make of that. What is meant by 'source'
> and what is meant by 'argument'? What is a 'source type for value'?
> What is a 'argument for value'?
>
> Desparately looking for someone to tell me,
>
> thanks,
> Theo.
>
>
>
>
Marco C. aka McViper
_________________________________
Work mailto:mcviper@geocities.com
Home mailto:mcviper@clix.pt
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