Step 6: Creating the Software
Being a software engineer, I spent a lot of my time on the software aspect of this project. My source code is available. I used Caleb Zulawski's Ping Library (http://www.arduino.cc/playground/Code/Ping). I did make one modification, however. This library uses a default timeout of the pulseIn() function of 1 second. This was causing large delays in the execution of the program so I reduced this timeout to 500ms. Things execute far faster now. I will not go into the details of the program, because not all user of Instructables are code-jockeys, but here are the main points:
Source Code (Arduino Sketch and modified Ping library) are at http://polymythic.com/HALO_SourceCode_v8.zip
The flow of the main program loop() is:
- Fire sensor,
- Check to see if any of the motors are supposed to turn on or off based on previous range finding
- Fire next sensor.. Repeat
Other Things to Note As You Look At The Code:
There are 4 "intensities" of motor pulsing to give the person a better sense of the range, and these vary by the foot (up to 4 feet)
This is based on an state-machine model, but one of the Arduino threading libraries could be used to handle this independently.
Source Code (Arduino Sketch and modified Ping library) are at http://polymythic.com/HALO_SourceCode_v8.zip
The flow of the main program loop() is:
- Fire sensor,
- Check to see if any of the motors are supposed to turn on or off based on previous range finding
- Fire next sensor.. Repeat
Other Things to Note As You Look At The Code:
There are 4 "intensities" of motor pulsing to give the person a better sense of the range, and these vary by the foot (up to 4 feet)
This is based on an state-machine model, but one of the Arduino threading libraries could be used to handle this independently.
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