Acustic Sensors

8/8/2019 Acustic Sensors

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POSITION DETECTION USINGULTRASONIC SENSORS

INSTRUMENTATION&

CONTROL

INSTRUCTOR: OSMAN PARLAKTUNA

26.01.2004

MAHMUT SERKAN ZKANCELAL METEHAN AYDIN

AL ZDEMR


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INDEX

I.PROJECT DESCRIPTION: 3

II.PROCESS: 3

III.HARDWARE: 5

A.ULTRASONC SENSORS: 5B.MICROCONTROLLER,PIC 7C.MAX 232 8D.PC 8

IV.SOFTWARE: 9

A.FLOW CHART FORPIC: 10B.FLOW CHART FORPC: 11

V.CONCLUSION: 13

VI.APPENDIX A: URF SRF04 PIC 16F877 CODE 14

VII. APPENDIX B: PROGRAM FOR PC 18

VIII. APPENDIX C: REFERENCES 30

IX.APPENDIX D: COST 31


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I. PROJECT DESCRIPTION:

Our project is position detection using ultrasonic sensors. Briefly; we try to measure the

distance of an object from an ultrasonic sensor and map its position in a precalculated area. We use

SRF04 ultrasonic sensors for distance measurement and drive this sensor via PIC (Peripheral Interface

Control) 16f877 microcontroller. After getting the necessary data from sensor we make serial

communication between PIC and PC and than mapping in PC using Visual Basic. We will first

describe you the process than hardware that are used in our project and than talk about the software

implementation and finally an evaluation about project.

II.PROCESS:

At the beginning of semester we try to decide which type of hardware to buy. Initially

we want to use Polaroid 6500 ultrasonic module which exist in laboratory. Also one advantage of

Polaroid is we make it work and search on how it works. After that we see that there will be lots of

problems while using Polaroid. First one is its power problem. It requires 2A current which is very

high for electronic applications. Also it has got serious connector problems between transducer-driver

circuit and between control pins -power circuit. Than we search on and try to find another ultrasonic

sensor module. After searching we find SRF04 which is economical in power consumption also

smaller in size and easily controllable. We buy sensors via visa card from internet site www.robot-

electronics.co.uk.

Next stage for us is deciding on what kind of microcontroller we use. You can think of

why we use microcontroller instead of directly connecting SRF04 to PC that contains A/D card. We

use microcontroller because in timing measurements we need 66us sensitivity that can not be provided

high-level languages. We initially think of Intel 8051 microprocessor. Again we search and find that

PIC 16F877 microcontroller is much more suitable for our application.

After we got sensors and our 16F877 we start on working. Initially we test sensors. We

test how they work, and apply signals that are at different frequency. We find at what frequency we

need to trigger sensors. Apart from this we test ECHO signal and find sensitivity approximately.

Our test data is shown below:


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In software part we try to develop algorithms for both triggering sensor via PIC and

reading echo signal with PIC. After making PIC work we try to develop algorithm on PIC-PC serial

communication. And lastly we develop codes for data processing on PC that converts time data to

distance and map position on the screen. The diagram below shows us the general working principle of

our system as schematic.

In next stages we will describe the hardware and software parts in detailed.

Test RangeMeasured

Detection Distance

Echo Output High

Time

1 7.5 cm 500 us

2 15 cm 1000 us

3 30 cm 2000 us

4 60 cm 4000 us

5 100 cm 6600 us

PC SRF04PIC

Serial communication,

Read ECHO pulse width

in time domain.

Trigger

Read ECHO pulse width


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III. HARDWARE:

We try to calculate the distance of an object using ultrasonic sensor, microcontroller and

mapping with PC.

A. Ultrasonic Sensors:

The principle of working of an ultrasonic sensor is easy. The sensor transmits ultrasonic soundwaves and waits for reflected sound waves. After receiving reflected sound wave or usually named

echo, sensor detects the distance in different ways. In our project we use SRF04 ultrasonic sensors.

As seen in the figure it seems easy to use SRF04 ultrasonic sensor. Its main advantage is the

number of pins that you have to use is only 4. One for Vdd, one for Vss, one for Trigger and one for

Echo. Also one additional pin is given to adjust the range of the sensor. The other specifications of

SRF04 ultrasonic sensors are


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Voltage - 5v only required

Current - 30mA Type. 50mA Max.

Frequency - 40 KHz

Max Range - 3 m

Min Range - 3 cm

Sensitivity - Detect 3cm diameter broom handle at > 2 m

Input Trigger - 10uS Min. TTL level pulse

Echo Pulse - Positive TTL level signal, width proportional to range.

Small Size - 43mm x 20mm x 17mm height

The important part for us is the signal conditioning of SRF04. We trigger the sensor and then

wait for echo pulse. Measuring echo pulse width is important for us because 66.4 us means us 1 cm.

As seen from timing diagram of SRF04 after triggering sensor with a TTL logic 1 (we use 5 V)

at least 10 us, sonic burst module embedded in sensor makes 8 cycle sonic burst at 40 kHz. After the

last sonic burst go low our echo signal became high and stay high until any reflected sound received

by the sensor. Our initial objective is to trigger the sensor and than read the echo signal and measure

its pulse width.


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B. MICROCONTROLLER, PIC

In this project we initially can not decide which microcontroller we will choose. We think of

Intel 8051 or PIC. After researching on the net we decide to use PIC. PIC as its name implies

(Peripheral Interface Controller) is designed by Microchip firm especially for Peripheral Interface

jobs. Its main advantage is its memory structure. It has got Banks that shows each special register

address (file registers). As PIC produced by RISC (Reduced Instruction Set) architecture we can see

Harvard architecture that means the controller has got separate program memory which makes it faster

than any other controller. One of the most important work is to chose the correct model that will

support our project. For serial communication with PC we need Universal Synchronous Asynchronous

Receiver Transmitter (USART/SCI) property. So we choose 16F877 which has got these properties.

Our PIC has a 8K program memory which enables us write programs without thinking the

capacity. Also we can use 14 external interrupts with this model. Additionally we have 5 ports (a, b, c,

d, e), 3 timers, 2 counters and only 35 instructions to program.

Our connection diagram is shown below:

As shown we will use INIT1, INIT2, INIT3 to trigger the sensors and RC1 to read the ECHO1,

ECHO2, and ECHO measuring the pulse width and make necessary operations we will send the data


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through MAX232 with TX/CK Pin (25) .

C. Max 232

The MAX232 family of line drivers/receivers is intended for all EIA/TIA-232E and V.28/V.24

communications interfaces, particularly applications where 12V is not available. This part is

especially useful in battery-powered systems, since their low-power shutdown mode reduces power

dissipation to less than 5W. The MAX232, use no external components and are recommended for

applications where printed circuit board space is critical.

Superior to Bipolar

_ Operate from Single +5V Power Supply (+5V and +12VMAX232)

_ Low-Power Receive Mode in Shutdown (MAX232/MAX242)

_ Meet All EIA/TIA-232E and V.28 Specifications

D. PC

We used a PCs serial port to communicate between PIC and PC. The GUI (WYSIWYG) is :


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IV. SOFTWARE:


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A. Flow Chart for PIC:

At the beginning of the program we initialize the PICs ports and registers, and USART

configuration. Then PIC sends 150 ms trigger to the first SRF04 and listens the echo signal , after

that SRF04 measures the distance and sends it to PIC. Furthermore PIC starts to measure the pulse


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width of the received echo signal and transmits the pulse width to the PC. This routine repeated 2

times more.

B. Flow Chart for PC:

At the loading, the program search for available ports and displays them on the Com Port

frame. After that the user press the measure button, program starts a loop receives 16-bit serial data

(Mscomm32.ocx supports 8-bit but we implement a code to overcome this problem) and starts to

calculate. We observed calculated distance has a linear error so that we overcame this problem using

curve fitting. In Matlab we entered the data and using curve fitting tool to obtain the transfer function

which has minimum error. Furthermore using the Windows GUIs (gdi32) we display the measured

object on the screen. Loop stops with the Stop button.


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V.CONCLUSION:

During this project we learned that ;

How bats measures the distance of an obstacle ?

How sonar sensor works ?

How Srf04 module works ?

How can we interface the Srf04 with PIC 16f877 Microcontroller ?

How to communicate between Srf04 and PC ?

Finally we implement our system on breadboard and see on the PC the position of an obstacle.

In fact, up to this point we suffer a lot. First problem we face is testing the sensors it takes much more

time than we think. Also code development process for PIC is another problem for us. This problem is

sourced by the necessity software development tools (PIC Programmer) that does not exist. At first we

download our code to PIC than after it is a problem to make changes on code. So we made up a PIC

16F877 programmer which is not working. Than we have to buy a programmer. Also we have got

problems on serial communication because of the regulating necessary baud rate.

In this project we gain lots of experience about project development process. Below you see

our systems final schematic:


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VI. APPENDIX A: URF SRF04 PIC 16F877 CODE

;************************************************************;; This is a program to run the PIC 16F877 to drive

; the SRF04. Port B will be used for the SRF04 module; drive, and the CCP1 pin for echo signals.; Below is the pin out

;; PORTB...; 0=INIT 1; 1=N/A

; 2=INIT 2; 3=N/A

; 4=INIT 3; 5=N/A; 6=N/A; 7=N/A

;; CCP1=ECHO 1 , ECHO 2 , ECHO3 respectively.

;;***********************************************************

list P=PIC16F877, F=INHX8M, C=160, N=77, ST=OFF, MM=OFF, R=DEC, X=OFF#include P16F877.inc

; this is the standard header file for 16f877

listlist__config(_CP_OFF & _PWRTE_ON & _XT_OSC & _WDT_OFF & _BODEN_OFF)

;********************** EQUATES ****************************

Bank0Ram equ H'20'MaxCount equ 50;***********************************************************

;******************** VARIABLES ***************************

cblock Bank0RamMACRO_TEMPTEMPTEMP2TIME1 ; this is the low byte for the Measured SignalTIME2 ; this is the high byte for the Measured Signal

endc;***********************************************************

;****************** MACRO DEFINITIONS *******************MOVLF macro literal,dest

movlw literalmovwf dest

endm

MOVFF macro source,destmovf source,Wmovwf destendm

DELAY macro timelocal Again


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movlw timemovwf MACRO_TEMP

Againdecfsz MACRO_TEMPgoto Againendm

;********************************************************

;******************* VECTOR **************************

org H'000' ;reset vectorsgoto MainLine ;Branch past tables

;*********************************************************

;******************* END OF TABLE *********************

;******************** MAIN ROUTINE **********************

MainLinecall Initial ;initialize everything

MainLoopcall FIRE_1 ;fire module 1MOVFF TMR1L,TIME1 ;save the low timeMOVFF TMR1H,TIME2 ;save the high timecall TRANSMIT ;transmit the data in Nibble1 - Nibble3

call LoopTime ;wait for 10mscall FIRE_2 ;fire module 2MOVFF TMR1L,TIME1 ;save the low timeMOVFF TMR1H,TIME2 ;save the high timecall TRANSMIT ;transmit the data in TIME1 and TIME2call LoopTime ;wait for 10ms

call FIRE_3 ;fire module 3MOVFF TMR1L,TIME1 ;save the low timeMOVFF TMR1H,TIME2 ;save the high timecall LoopTimecall TRANSMIT ;transmit the data in TIME1 and TIME2goto MainLoop

;***********************************************************

;*********************** INITIAL SUB ***********************;; this will initialize all of the ports and etc.

Initial bsf STATUS,RP0 ;set to Bank 1MOVLF B'00000111',ADCON1 ;setting all AD pins to digital I/OMOVLF 160,TEMP2 ;setting LoopTime timeclrf TRISA ;setting all port a to outputclrf TRISB ;setting PORTB as out

MOVLF B'00000100',TRISC ;all port c output, CCP1 inMOVLF B'11110000',TRISD ;all input for port dclrf TRISE ;all output for port emovlw 0x19 ; 0x0C=19200 baud (0x19=9600 baud)movwf SPBRGmovlw b'00100100' ; brgh = high (2)

movwf TXSTA ; enable Async Transmission, set brgh

movlw b'10010000' ; enable Async Reception bcf STATUS,RP0 ; RAM Page 0movwf RCSTA


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clrf PORTAclrf PORTB

clrf PORTCclrf PORTDclrf PORTEMOVLF B'10000000',RCSTA ;enable the serial port

return;************************************************************

;****************** FIRE 1 SUBROUTINE **********************; This is used to set up and fire SRF04 1;********************* ------------------- *************************

FIRE_1

clrf TMR1H ;clear the timer 1 low byteclrf TMR1L ;clear the timer 1 low byteclrf PORTB ;ready PORTB bsf PORTB,0 ;set INIT 1call T20 ;delay for 20 us

bcf PORTB,0 ;trigger low bcf PIR1,2 ;make sure CCP1 is clear

ECHO1_LOOKING btfsc PORTC,2 ;testing CCP1goto ECHO1_LOOKING ; If not keep looking

TIMERincf TMR1L ;Increment the Low byte

btfsc STATUS, Z ;Do we have Zero (Multiple of 256)?incf TMR1H ;Increment High byte (if necessary) btfsc PORTC,2 ;testing CCP1goto TIMER ;make sure CCP1 is clearreturn

;************************************************************

;****************** FIRE 2 SUBROUTINE **********************; This is used to set up and fire SRF04 2;********************* ------------------- **************************

FIRE_2clrf TMR1L ;clear the timer 1 low byteclrf PORTB ;ready PORTB bsf PORTB,2 ;set INIT 1call T20 ;delay for 20 us bcf PORTB,2 ;trigger low

bcf PIR1,2 ;make sure CCP1 is clearECHO2_LOOKING

btfsc PORTC,2 ;testing CCP1goto ECHO2_LOOKING

TIMER2incf TMR1L ;Increment the Low byte

btfsc STATUS, Z ;Do we have Zero (Multiple of 256)?incf TMR1H ;Increment High byte (if necessary) btfsc PORTC,2goto TIMER2return

;***********************************************************

;****************** FIRE 3 SUBROUTINE **********************; this is used to set up and fire SRF04 3


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;********************* ------------------- **************************

FIRE_3clrf TMR1L ;clear the timer 1 low byteclrf PORTB ;ready PORTB bsf PORTB,4 ;set INIT 1

call T20 ;delay for 20 us bcf PORTB,4 ;trigger low

bcf PIR1,2 ;make sure CCP1 is clearECHO3_LOOKING

btfsc PORTC,2 ;testing CCP1goto TIMER3goto ECHO3_LOOKING

TIMER3

incf TMR1L ;Increment the Low byte btfsc STATUS, Z ;Do we have Zero (Multiple of 256)?incf TMR1H ;Increment High byte (if necessary) btfsc PORTC,2goto TIMER3

return;***********************************************************

;***************** TRANSMIT SUBROUTINE *********************;; This is used to send the data that is stored in

; TIME1 (low byte) and TIME2 (high byte) out the; serial port.;***********************************************************

TRANSMITmovf TMR1H,0

btfsc STATUS,2movlw b11111111movwf TXREGcall TransWt ; wait until finished sendingmovf TMR1L,0movwf TXREG

call TransWtreturn

;**************** LoopTime SUBROUTINE **********************; This subroutine counts 10 mS;***********************************************************

LoopTimedecfsz TEMP2,F

call T20return

;***********************************************************

;************* *** T20 SUBROUTINE **************************; This will use up 10 us of time to ignore the; noise on the echo line from the fireing.;************************************************************

T20

MOVLF 20,TEMP ;a counter

HEREdecfsz TEMP,F ;dec the countergoto HERE


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return

;********** WAIT UNTIL RS232 IS FINISHED SENDING ***********

TransWt bsf STATUS,RP0 ; RAM Page 1

WtHere btfss TXSTA,TRMT ; (1) transmission is complete if higoto WtHere

bcf STATUS,RP0 ; RAM Page 0return

;***********************************************************

;****************** END of ALL PROGRAMS ********************

end

VII. APPENDIX B: PROGRAM FOR PC

FRMMAIN.frm

Private Sub btnRead_Click()Dim bytInput() As ByteDim bytElemani As ByteDim iX As LongDim iY As LongDim iL As LongDim iP As LongDim SeriSonuc As String

Dim sHistory As StringDim SeriVeri As StringDim Comment As StringIf comSerial.PortOpen = False ThencomSerial.PortOpen = TrueEnd If

measure:Select Case comSerial.InBufferCountCase 0: MsgBox ("No data found")GoTo measureCase Is > 0:Say = comSerial.InBufferCountbytInput = comSerial.Input

iX = UBound(bytInput(), 1)For iY = 0 To 1

If SeriSonuc "" ThenIf iY Mod 4 Then

SeriSonuc = "" & SeriSonucElse

SeriSonuc = vbCrLf & SeriSonucEnd If

End IfbytElemani = bytInput(iY)SeriVeri = Chr$(bytElemani)For iL = 1 To 8

SeriSonuc = Abs(CInt(BitOn(CLng(bytElemani), iL))) & SeriSonuc

NextNext'If BinaryToDecimal(SeriSonuc) * 6 > 4000 Then


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'txtsrf042.Text = "Cisim Bulunamad"'Elsetxtrec1.Text = SeriSonuctxtmea1.Text = ((BinaryToDecimal(SeriSonuc) * 6) / (166 / 2.54)) & "

cm"txtypos.Text = BinaryToDecimal(SeriSonuc) / 40 + 6

'End IfIf txtmea1.DataChanged = True Then

Comment = Now & " Received data ...: " & txtmea1.TextClose iFileNumSetLog (Comment)

End IfGoTo measureEnd Select

End Sub

Private Sub btnview_Click()frmObjDist.Show

End Sub

Private Sub clrlog_Click()On Error GoTo ErrorTrpdel.DeleteFile ("data.txt")Exit SubErrorTrp:MsgBox ("History already cleared !!!")End Sub

Private Sub Form_Initialize()BaudRate(0) = "110"BaudRate(1) = "300"BaudRate(2) = "600"BaudRate(3) = "1200"BaudRate(4) = "2400"BaudRate(5) = "9600"BaudRate(6) = "14400"BaudRate(7) = "19200"BaudRate(8) = "28800"BaudRate(9) = "38400"BaudRate(10) = "56000"BaudRate(11) = "128000"BaudRate(12) = "256000"

End Sub

Private Sub cmbBaudRate_Click()sBaudData = ""cmdUpdateBaud.Enabled = True

End SubPrivate Sub cmbBaudRate_KeyPress(KeyAscii As Integer)

Select Case KeyAsciiCase 48, 49, 50, 51, 52, 53, 54, 55, 56, 57

sBaudData = sBaudData & Chr$(KeyAscii)Case 13

sBaudData = ""UpdateBaud

Case 127sBaudData = ""

Case 8

If sBaudData "" ThensBaudData = Left$(sBaudData, (Len(sBaudData) - 1))

End If


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Case ElsesBaudData = ""

End SelectEnd SubPrivate Sub cmbBaudRate_Change()

Dim iX As Long

Dim iL As LongDim sCurrent As String

If bLoaded ThencmdUpdateBaud.Enabled = TruesCurrent = sBaudDataiL = Len(sCurrent)

For iX = 0 To 12If sCurrent = Left$(BaudRate(iX), iL) Then

cmbBaudRate.Text = BaudRate(iX)cmbBaudRate.SelLength = Len(cmbBaudRate.Text)Exit Sub

End If

NextEnd IfEnd SubPrivate Sub cmdUpdateBaud_Click()

UpdateBaudEnd Sub

Function BitOn(Number As Long, Bit As Long) As BooleanDim iX As LongDim iY As Long

iY = 1For iX = 1 To Bit - 1

iY = iY * 2NextIf Number And iY Then BitOn = True Else BitOn = False

End Function

Private Sub VerifyPorts()Dim sPort As StringDim iX As LongDim iY As LongDim lngType As LongDim lngValue As LongDim sName As StringDim sSwap As StringReDim varResult(0 To 1, 0 To 100) As VariantConst lNameLen As Long = 260Const lDataLen As Long = 4096

sSubKey = "Hardware\Devicemap\SerialComm"If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_READ, hnd) Then Exit Sub

For iX = 0 To 999999If iX > UBound(varResult, 2) Then

ReDim Preserve varResult(0 To 1, iX + 99)End IfsName = Space$(lNameLen)ReDim binValue(0 To lDataLen - 1) As ByteIf RegEnumValue(hnd, iX, sName, lNameLen, ByVal 0&, lngType,

binValue(0), lDataLen) Then Exit For

varResult(0, iX) = Left$(sName, lNameLen)

Select Case lngType


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Case REG_DWORDCopyMemory lngValue, binValue(0), 4varResult(1, iX) = lngValue

Case REG_SZvarResult(1, iX) = Left$(StrConv(binValue(),

vbUnicode), lDataLen - 1)

Case ElseReDim Preserve binValue(0 To lDataLen - 1) As BytevarResult(1, iX) = binValue()

End SelectNext

If hnd Then RegCloseKey hndReDim Preserve varResult(0 To 1, iX - 1) As VariantReDim Ports(iX - 1)For iX = 0 To UBound(varResult, 2)

sPort = Mid$(varResult(1, iX), 4, 1)Ports(iX) = sPort

Next

iY = UBound(Ports)For iX = 0 To (iY - 1)If Ports(iX + 1) < Ports(iX) Then

sSwap = Ports(iX + 1)Ports(iX + 1) = Ports(iX)Ports(iX) = sSwapiX = -1

End IfNext

End SubPrivate Sub UpdateBaud()Attribute UpdateBaud.VB_Description = "Changes the baud rate of the serial port"

Dim sNewBaud As StringDim sOldBaud As StringDim sTmp As StringDim iX As Long

On Error GoTo ErrTrap

sNewBaud = cmbBaudRate.TextFor iX = 0 To 12

If BaudRate(iX) = sNewBaud ThenExit For

ElseIf iX = 12 Then

MsgBox "Invalid Baud Rate, Please Try Again !", vbInformation,"Data Entry Error !"

sBaudData = ""cmbBaudRate.Text = ""cmdUpdateBaud.Enabled = FalseExit Sub

End IfEnd If

NextsTmp = comSerial.SettingssOldBaud = Left$(sTmp, (InStr(1, sTmp, ",", vbBinaryCompare) - 1))sTmp = Replace(sTmp, sOldBaud, sNewBaud, , , vbBinaryCompare)comSerial.Settings = sTmpcmdUpdateBaud.Enabled = False

sBaudData = ""UpdateSettings

Exit Sub


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ErrTrap:

MsgBox Err.Number & " " & Err.Description & vbCr & " Error Generated By "& Err.Source, vbCritical, _"System Error Trap !"End Sub

Private Sub cmdExit_Click()Unload MeSet frmMain = Nothing

End SubPrivate Sub cmdRead_Click()

Dim bytInput() As ByteDim bytElement As ByteDim iX As LongDim iY As LongDim iL As LongDim iP As LongDim sResult As String

Dim sHistory As StringDim sData As StringDim sSpace As String


If comSerial.PortOpen = False ThencomSerial.PortOpen = True

End If

bytInput = comSerial.InputiX = UBound(bytInput(), 1)For iY = 0 To iX

If sResult "" ThenIf iY Mod 4 Then

sResult = " " & sResultElse

sResult = vbCrLf & sResultEnd If

End IfbytElement = bytInput(iY)sData = Chr$(bytElement)For iL = 1 To 8

Select Case iLCase 4

sSpace = " , "Case Else

sSpace = ""End SelectsResult = sSpace & Abs(CInt(BitOn(CLng(bytElement), iL))) &

sResultNextIf sResult "" Then

If Asc(sData) = 0 ThensData = "~"

End IfsResult = "(" & sData & ")> " & sResult

End IfNexttxtRead.Text = sResult & vbCrLf

cmdRead.Enabled = FalselstHistory.AddItem ("Read " & sDataBits & " Bits" & " As " & sMode)Do While Len(sResult)


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iP = InStrRev(sResult, "(", , vbBinaryCompare)sHistory = Replace(Trim(Mid$(sResult, iP)), vbCrLf, "", , ,

vbBinaryCompare)sResult = Left(sResult, (iP - 1))lstHistory.AddItem (sHistory & " :ASCII " & CStr(Asc(Mid$(sHistory, 2,

1))))

LooptxtSend.SetFocustxtSend.SelStart = 0txtSend.SelLength = Len(txtSend.Text)cmdClearHistory.Enabled = True

Exit Sub

ErrTrap:MsgBox Err.Number & " " & Err.Description & vbCr & " Error Generated By "

& Err.Source, vbCritical, _"System Error Trap !"End Sub

Private Sub cmdSend_Click()On Error GoTo ErrTrap

If comSerial.PortOpen = False ThencomSerial.PortOpen = True

End IfcomSerial.Output = txtSend.TextcmdRead.Enabled = TruelstHistory.AddItem ("Send " & sDataBits & " Bits" & " As " & sMode)lstHistory.AddItem txtSend.TextExit Sub


& Err.Source, vbCritical, _"System Error Trap !"End SubPrivate Sub Form_Load()

Dim iX As LongDim iY As LongDim sTmp As StringDim sPort As StringDim sSelectedPort As StringDim bFlag As BooleanDim opt As OptionButton

VerifyPortsVerifySettingssSettings = comSerial.SettingssSelectedPort = comSerial.CommPortSelect Case comSerial.InputMode

Case comInputModeBinaryoptBinary.Value = TruesMode = "Binary"

Case comInputModeTextoptString.Value = TruesMode = "String"

End SelectFor iX = 0 To UBound(BaudRate())

cmbBaudRate.AddItem BaudRate(iX)Next

sTmp = Left$(sSettings, (InStr(1, sSettings, ",", vbBinaryCompare) - 1))sDataBits = Left$(Right$(sSettings, 3), 1)optDataBits(CInt(sDataBits)).Value = True


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cmbBaudRate.Text = sTmp

iY = UBound(Ports)For iX = 0 To iY

sPort = Ports(iX)optPort(iX).Visible = True

optPort(iX).Caption = sPortIf sPort = sSelectedPort ThenbFlag = TrueoptPort(iX).Value = True

End IfNextIf Not bFlag Then

comSerial.CommPort = CInt(optPort(0).Caption)optPort(0).Value = True

End IfbLoaded = True

End Sub

Private Sub optBinary_Click()If bLoaded Then

comSerial.InputMode = comInputModeBinarysMode = "Binary"

End IfEnd SubPrivate Sub optDataBits_Click(Index As Integer)

Dim sTmp As String


If bLoaded ThensTmp = comSerial.SettingsMid(sTmp, (Len(sTmp) - 2), 1) = CStr(Index)sDataBits = CStr(Index)comSerial.Settings = sTmpUpdateSettings

End IfExit Sub


& Err.Source, vbCritical, _"System Error Trap !"End SubPrivate Sub optPort_Click(Index As Integer)

If bLoaded ThencomSerial.CommPort = CInt(optPort(Index).Caption)UpdateSettings

End IfEnd SubPrivate Sub optString_Click()

If bLoaded ThencomSerial.InputMode = comInputModeTextsMode = "String"

End IfEnd Sub

Private Sub txtSend_Change()


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If txtSend.Text "" ThencmdSend.Enabled = True

ElsecmdSend.Enabled = False

End IfEnd Sub

Private Sub cmdClearHistory_Click()lstHistory.ClearcmdClearHistory.Enabled = False

End SubPrivate Sub txtSend_GotFocus()

txtSend.SelStart = 0txtSend.SelLength = Len(txtSend.Text)

End SubPrivate Sub VerifySettings()Attribute VerifySettings.VB_Description = "Checks the registry for the last comport settings"

Dim disposition As LongDim sTmp As String


sSettings = comSerial.SettingssPortNum = comSerial.CommPortsSubKey = "Software\Damage Inc\Com Settings"If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_READ, hnd) Then

If RegCreateKeyEx(lMainKey, sSubKey, 0, 0, 0, 0, 0, hnd, disposition)Then

Err.Raise 1001, "VerifySettings() Sub", "Could Not Create RegistryKey"

End IfEnd If

sKeyValue = Space$(lLength)If RegQueryValueEx(hnd, sSettingsKey, 0, REG_SZ, ByVal sKeyValue, lLength)

ThenIf RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_WRITE, hnd) Then

Err.Raise 1001, "VerifySettings() Sub", "Could Not Open RegistryKey"

ElseIf RegSetValueEx(hnd, sSettingsKey, 0, REG_SZ, ByVal sSettings,

Len(sSettings)) ThenErr.Raise 1001, "VerifySettings() Sub", "Could Not Set

Registry Key Settings Value"End If

End IfElse

comSerial.Settings = sKeyValueEnd If

sKeyValue = Space$(lLength)If RegQueryValueEx(hnd, sPortKey, 0, REG_SZ, ByVal sKeyValue, lLength)

ThenIf RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_WRITE, hnd) Then

Err.Raise 1001, "VerifySettings() Sub", "Could Not Open Registry

Key"Else


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If RegSetValueEx(hnd, sPortKey, 0, REG_SZ, ByVal sPortNum,Len(sPortNum)) Then

Err.Raise 1001, "VerifySettings() Sub", "Could Not SetRegistry Key Port Value"

End IfEnd If

ElsecomSerial.CommPort = sKeyValueEnd If

RegCloseKey hndExit Sub



Private Sub UpdateSettings()Attribute UpdateSettings.VB_Description = "Updates the registry entry to thecurrent com port settings"


sSettings = comSerial.SettingssPortNum = comSerial.CommPortsSubKey = "Software\Damage Inc\Com Settings"

If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_WRITE, hnd) ThenErr.Raise 1001, "VerifySettings() Sub", "Could Not Open Registry

Key"Else

If RegSetValueEx(hnd, sSettingsKey, 0, REG_SZ, ByVal sSettings,Len(sSettings)) Then

Err.Raise 1001, "VerifySettings() Sub", "Could Not SetRegistry Key Settings Value"

End IfEnd If

If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_WRITE, hnd) ThenErr.Raise 1001, "VerifySettings() Sub", "Could Not Open Registry

Key"Else

If RegSetValueEx(hnd, sPortKey, 0, REG_SZ, ByVal sPortNum,Len(sPortNum)) Then

Err.Raise 1001, "VerifySettings() Sub", "Could Not SetRegistry Key Port Value"

End IfEnd If

Exit Sub



Public Function BinaryToDecimal(Binary As String) As LongDim n As LongDim s As Integer


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For s = 1 To Len(Binary)n = n + (Mid(Binary, Len(Binary) - s + 1, 1) * (2 ^ (s - 1)))Next s

BinaryToDecimal = n

End FunctionSub Pause(seconds As Integer)Const SECS_INDAY = 24! * 60 * 60 ' Seconds per dayDim start As Singlestart = TimerDo: Loop Until (Timer + SECS_INDAY - start) Mod SECS_INDAY >= seconds

End Sub

Module1.bas For logging and mapping

Attribute VB_Name = "Module1"'These are the API functions that makes it all possible (to use BitBlt and otherfunctions)

Public Declare Function BitBlt Lib "gdi32" (ByVal hDestDC As Long, ByVal X AsLong, ByVal Y As Long, ByVal nWidth As Long, ByVal nHeight As Long, ByVal hSrcDCAs Long, ByVal xSrc As Long, ByVal ySrc As Long, ByVal dwRop As Long) As LongPublic Const SRCAND = &H8800C6Public Const SRCCOPY = &HCC0020Public Const SRCERASE = &H4400328Public Const SRCINVERT = &H660046Public Const SRCPAINT = &HEE0086

Public Declare Sub Sleep Lib "kernel32" (ByVal dwMilliseconds As Long)

Sub SetLog(Message As String)Dim theFile As String, theMessage As StringtheFile = App.Path & "\data.txt"theMessage = Message & vbCrLfOpen theFile For Append As #1Print #1, theMessageClose #1End Sub

Sub KillLog()On Error Resume NextKill App.Path & "\data.txt"On Error GoTo 0End Sub

RegistryAPIs.bas Look for available serial ports.

Attribute VB_Name = "RegistryAPIs"

Option Explicit

'-----------------------------------------------------------------------------------------------------------------------Public Const SYNCHRONIZE = &H100000


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Public Const READ_CONTROL = &H20000

Public Const STANDARD_RIGHTS_READ = (READ_CONTROL)

Public Const STANDARD_RIGHTS_WRITE = (READ_CONTROL)

Public Const STANDARD_RIGHTS_ALL = &H1F0000

'-----------------------------------------------------------------------------------------------------------------------

Public Const KEY_QUERY_VALUE = &H1Public Const KEY_ENUMERATE_SUB_KEYS = &H8

Public Const KEY_NOTIFY = &H10

Public Const KEY_SET_VALUE = &H2

Public Const KEY_CREATE_SUB_KEY = &H4

Public Const KEY_READ = ((READ_CONTROL Or KEY_QUERY_VALUE Or

KEY_ENUMERATE_SUB_KEYS Or KEY_NOTIFY) And (Not SYNCHRONIZE))

Public Const KEY_WRITE = ((STANDARD_RIGHTS_WRITE Or KEY_SET_VALUE Or

KEY_CREATE_SUB_KEY) And (Not SYNCHRONIZE))

'-----------------------------------------------------------------------------------------------------------------------

Public Const ERROR_SUCCESS = 0&

'-----------------------------------------------------------------------------------------------------------------------Public Const REG_SZ = 1

Public Const REG_BINARY = 3

Public Const REG_DWORD = 4

'-----------------------------------------------------------------------------------------------------------------------

Public Const HKEY_CLASSES_ROOT = &H80000000

Public Const HKEY_CURRENT_USER = &H80000001

Public Const HKEY_LOCAL_MACHINE = &H80000002

Public Const HKEY_USERS = &H80000003

Public Const HKEY_PERFORMANCE_DATA = &H80000004

Public Const HKEY_CURRENT_CONFIG = &H80000005

Public Const HKEY_DYN_DATA = &H80000006

'-----------------------------------------------------------------------------------------------------------------------

Public Const REG_CREATED_NEW_KEY = &H1

Public Const REG_OPENED_EXISTING_KEY = &H2

Public Declare Sub Sleep Lib "kernel32" (ByVal dwMilliseconds As Long)

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function SleepEx Lib "kernel32" (ByVal dwMilliseconds As Long, ByVal bAlertable

As Long) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function RegOpenKeyEx Lib "advapi32.dll" Alias "RegOpenKeyExA" (ByVal hKeyAs Long, ByVal lpSubKey As _

String, ByVal ulOptions As Long, ByVal samDesired As Long, phkResult As Long) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function RegCloseKey Lib "advapi32.dll" (ByVal hKey As Long) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function RegQueryValueEx Lib "advapi32.dll" Alias "RegQueryValueExA" (ByVal

hKey As Long, ByVal _

lpValueName As String, ByVal lpReserved As Long, lpType As Long, lpData As Any, lpcbData As

Long) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function RegCreateKeyEx Lib "advapi32.dll" Alias "RegCreateKeyExA" (ByValhKey As Long, ByVal lpSubKey _


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As String, ByVal Reserved As Long, ByVal lpClass As Long, ByVal dwOptions As Long, ByVal

samDesired As Long, ByVal _

lpSecurityAttributes As Long, phkResult As Long, lpdwDisposition As Long) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function RegDeleteKey Lib "advapi32.dll" Alias "RegDeleteKeyA" (ByVal hKey As

Long, ByVal lpSubKey As _String) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function RegSetValueEx Lib "advapi32.dll" Alias "RegSetValueExA" (ByVal hKey

As Long, ByVal _

lpValueName As String, ByVal Reserved As Long, ByVal dwType As Long, lpData As Any,

ByVal cbData As Long) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function RegEnumKey Lib "advapi32.dll" Alias "RegEnumKeyA" (ByVal hKey As

Long, ByVal dwIndex As Long, _

ByVal lpName As String, ByVal cbName As Long) As Long

'-----------------------------------------------------------------------------------------------------------------------Public Declare Function RegDeleteValue Lib "advapi32.dll" Alias "RegDeleteValueA" (ByVal hKey

As Long, ByVal _

lpValueName As String) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Function RegEnumValue Lib "advapi32.dll" Alias "RegEnumValueA" (ByVal hKey

As Long, ByVal dwIndex As _

Long, ByVal lpValueName As String, lpcbValueName As Long, ByVal lpReserved As Long,

lpType As Long, lpData As Any, _

lpcbData As Long) As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Sub CopyMemory Lib "kernel32" Alias "RtlMoveMemory" (dest As Any, Source As

Any, ByVal numBytes As Long)

'-----------------------------------------------------------------------------------------------------------------------

Declare Function FormatMessage Lib "kernel32" Alias "FormatMessageA" (ByVal dwFlags As Long,

lpSource As Any, ByVal _

dwMessageId As Long, ByVal dwLanguageId As Long, ByVal lpBuffer As String, ByVal nSize As

Long, Arguments As Long) _

As Long

'-----------------------------------------------------------------------------------------------------------------------

Public Declare Sub keybd_event Lib "user32" (ByVal bVk As Byte, ByVal bScan As Byte, ByVal

dwFlags As Long, _ByVal dwExtraInfo As Long)

Public Const VK_CONTROL = &H11

Public Const VK_C = &H43

Public Const VK_V = &H56

Public Const KEYEVENTF_KEYUP = &H2

'-----------------------------------------------------------------------------------------------------------------------

Type OSVERSIONINFO

dwOSVersionInfoSize As Long

dwMajorVersion As Long

dwMinorVersion As LongdwBuildNumber As Long

dwPlatformId As Long


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szCSDVersion As String * 128

End Type

'-----------------------------------------------------------------------------------------------------------------------

Public Const VER_PLATFORM_WIN32_NT = 2

Public Const VER_PLATFORM_WIN32_WINDOWS = 1

Public Const VER_PLATFORM_WIN32s = 0Public Declare Function GetVersionEx Lib "kernel32" Alias "GetVersionExA" (lpVersionInformation

As OSVERSIONINFO) As _

Long

'----------------------------------------------------------------------------------------------------------------

VIII.APPENDIX C: REFERENCES

About Ultrasonic Sensors:

1. www.robot-electronics.co.uk

2. www.acroname.com/robotics/parts/R93-SRF04.html

3. http://www.uoxray.uoregon.edu/polamod/

4. http://www.pioneernet.net/johnc/als5ears.htm

5. http://www.tntech.edu/me/courses/Canfield/me4370/6500.htm

6. http://www.engr.udayton.edu/faculty/jloomis/ece445/topics/sonar/faq.html

7. https://www.zagrosrobotics.com/sonar.htm

8. http://www.robofolio.com/folio/sonar/

9. http://www.arches.uga.edu/~dass/srf04.html

10. http://www.kronosrobotics.com/an149/DAN149.htm

11. http://www.rentron.com/remote_control/SRF04.htm12. http://www.junun.org/MarkIII/Info.jsp?item=23

About PIC Microcontroller:

1. www.microchip.com

2. http://controls.ae.gatech.edu/gtar/electronics/

3. http://www.mstracey.btinternet.co.uk/pictutorial/

4. http://www.ic-prog.com/

5. http://www.embedded.com/1999/9904/9904feat2.htm

6. http://www.picallw.com/

About Serial Communication:

1. http://ohm.bu.edu/edf/info/serial_pinout.html

2. http://www.lookrs232.com/rs232/history_rs232.htm

3. http://vacuumfeedthru.com/tech_libr/rs-232-c.htm

4. http://www.piclist.com/techref/microchip/16F877/rs232-cr.htm

5. http://home.earthlink.net/~botronics/index/pickey.html


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IX. APPENDIX D: COST

In all engineering projects one of the important criteria is the cost of project. We also show our budget.

PART COST ( TL )

3 * SRF04 sensors147.500.000 TL

1* PIC 16f877 micocontroller8.000.000 TL

Electronic Components( Max232 IC, 7805

Voltage Regulator, XT, Capacitors,Resistors)6.000.000 TL

PIC 16F877 JMD Programmer 35.000.000 TL

TOTAL 196.000.000 TL

Documents

Acustic Sensors