Hobby Electronics & Programming: March 2014

Monday, March 31, 2014

Arduino TRIAC Dimmer

Saturday, March 22, 2014

Serial Servo Controller VB GUI Part-3

This Servo Sequencer connects to a serial port where AVR microcontroller is listening for servo inputs .

GUI has 6 scrollbar and a sequencer table where commands can be created/saved/loaded back and can be run to create a set of motion it has speech recognition used microsoft's speech synthesis bundle

GUI screenshot :

code looks something like this

' Nataraja Gadikota

' Serial servo controller program

'VB.NET2008

'controller for 6 servo motor's

'255 steps

Imports System

Imports System.ComponentModel

Imports System.Threading

Imports System.Windows.Forms

Imports System.Speech

Public Class Form1

Dim WithEvents reco As New Recognition.SpeechRecognizer

Dim sv(7) As Byte

Dim sd(7) As Byte

Dim str As String

Dim a As Integer

Dim delay As Integer

Dim lv As Integer

Dim numlistbox As Integer

Dim runflag As Integer

Dim dec As Integer

Dim newposflag As Integer

Dim tx As Integer

Dim synth As New Synthesis.SpeechSynthesizer

Dim w As IO.StreamWriter

Dim r As IO.StreamReader

Private Delegate Sub AddListBoxItemInvoker(ByVal item As Object)

Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load

Dim grammer1 As New Recognition.SrgsGrammar.SrgsDocument

Dim commandRule As New Recognition.SrgsGrammar.SrgsRule("color")

Dim commandList As New Recognition.SrgsGrammar.SrgsOneOf("left", "right", "stop", "up", "down", "home", "center")

synth.SpeakAsync("list of commands " + "left " + "right " + "stop " + "up " + "down " + "home " + "center ")

commandRule.Add(commandList)

grammer1.Rules.Add(commandRule)

grammer1.Root = commandRule

reco.LoadGrammar(New Recognition.Grammar(grammer1))

SerialPort1.PortName = "com1"

SerialPort1.BaudRate = 38400

SerialPort1.Parity = IO.Ports.Parity.None

SerialPort1.StopBits = IO.Ports.StopBits.One

SerialPort1.DataBits = 8

Button2.Text = "close com1 port"

Button1.Text = "open com1 port"

Button3.Text = "send data"

Button13.Text = "save data"

Button14.Text = "load data"

Button12.Text = "add seq"

Button15.Text = "clear"

TextBox8.Text = 0

TextBox9.Text = 0

VScrollBar7.Maximum = 50

VScrollBar1.Maximum = 264

VScrollBar1.Minimum = 1

VScrollBar2.Maximum = 264

VScrollBar2.Minimum = 1

VScrollBar3.Maximum = 264

VScrollBar3.Minimum = 1

VScrollBar4.Maximum = 264

VScrollBar4.Minimum = 1

VScrollBar5.Maximum = 264

VScrollBar5.Minimum = 1

VScrollBar6.Maximum = 264

VScrollBar6.Minimum = 1

VScrollBar7.Minimum = 8

VScrollBar7.Value = 8

VScrollBar6.Value = 127

VScrollBar5.Value = 127

VScrollBar4.Value = 127

VScrollBar3.Value = 127

VScrollBar2.Value = 127

VScrollBar1.Value = 127

Button4.Text = "center"

Button5.Text = "center"

Button6.Text = "center"

Button7.Text = "center"

Button8.Text = "center"

Button9.Text = "center"

Button10.Text = "All home"

Button11.Text = "RUN"

numlistbox = 0

a = 0

lv = 1

dec = 0

runflag = 0

Timer1.Interval = 5

Timer1.Enabled = True

End Sub

Private Sub Button2_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button2.Click

If SerialPort1.IsOpen = True Then SerialPort1.Close()

If SerialPort1.IsOpen = False Then MsgBox("com1 port closed sucessfully")

End Sub

Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click

If SerialPort1.IsOpen = False Then SerialPort1.Open()

If SerialPort1.IsOpen = True Then MsgBox("com1 port opened sucessfully")

End Sub

Private Sub SerialPort1_DataReceived(ByVal sender As Object, _

ByVal e As IO.Ports.SerialDataReceivedEventArgs) Handles SerialPort1.DataReceived

Dim Avalue As Integer

Avalue = SerialPort1.ReadByte

SerialPort1.Write(sv, 0, 7)

Me.AddListBoxItem(Avalue)

End Sub

Private Sub AddListBoxItem(ByVal item As Object)

If Me.TextBox1.InvokeRequired Then

Me.TextBox1.Invoke(New AddListBoxItemInvoker(AddressOf AddListBoxItem), item)

Else

'Me.TextBox10.Text = "received"

Me.TextBox1.Text = (item)

Me.newposflag = 1

End If

End Sub

Private Sub Button3_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button3.Click

SerialPort1.Write(sv, 0, 7)

End Sub

Private Sub VScrollBar1_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar1.ValueChanged

TextBox2.Text = VScrollBar1.Value

sv(0) = Val(VScrollBar1.Value)

End Sub

Private Sub VScrollBar2_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar2.ValueChanged

TextBox3.Text = VScrollBar2.Value

sv(1) = VScrollBar2.Value

End Sub

Private Sub VScrollBar3_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar3.ValueChanged

TextBox4.Text = VScrollBar3.Value

sv(2) = VScrollBar3.Value

End Sub

Private Sub VScrollBar4_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar4.ValueChanged

TextBox5.Text = VScrollBar4.Value

sv(3) = VScrollBar4.Value

End Sub

Private Sub VScrollBar5_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar5.ValueChanged

TextBox6.Text = VScrollBar5.Value

sv(4) = VScrollBar5.Value

End Sub

Private Sub VScrollBar6_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar6.ValueChanged

TextBox7.Text = VScrollBar6.Value

sv(5) = VScrollBar6.Value

End Sub

Private Sub VScrollBar7_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles VScrollBar7.ValueChanged

TextBox9.Text = VScrollBar7.Value

sv(6) = VScrollBar7.Value

End Sub

Private Sub Button4_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button4.Click

VScrollBar1.Value = 127

End Sub

Private Sub Button5_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button5.Click

VScrollBar2.Value = 127

End Sub

Private Sub Button6_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button6.Click

VScrollBar3.Value = 127

End Sub

Private Sub Button7_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button7.Click

VScrollBar4.Value = 127

End Sub

Private Sub Button8_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button8.Click

VScrollBar5.Value = 127

End Sub

Private Sub Button9_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button9.Click

VScrollBar6.Value = 127

End Sub

Private Sub Button10_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button10.Click

VScrollBar6.Value = 127

VScrollBar5.Value = 127

VScrollBar4.Value = 127

VScrollBar3.Value = 127

VScrollBar2.Value = 127

VScrollBar1.Value = 127

End Sub

Private Sub Button11_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button11.Click

'Dim synth1 As New Synthesis.SpeechSynthesizer

'synth1.SpeakAsync("left right center up down")

'MessageBox.Show("run clicked")

runflag = 1

a = 0

dec = 0

'MessageBox.Show(ListBox1.Items.Item(1))

End Sub

Private Sub SetColor(ByVal color As System.Drawing.Color)

Dim synth As New Synthesis.SpeechSynthesizer

synth.SpeakAsync("command executed" + color.ToString)

'Me.BackColor = color

End Sub

Private Sub reco_SpeechRecognized(ByVal sender As Object, ByVal e As System.Speech.Recognition.RecognitionEventArgs) Handles reco.SpeechRecognized

Select Case e.Result.Text

Case "left"

If VScrollBar1.Value > 21 Then

VScrollBar1.Value = VScrollBar1.Value - 20

Else

VScrollBar1.Value = 1

End If

synth.SpeakAsync("command executed" + " left ")

'SetColor(Color.left)

'SerialPort1.Write("red")

Case "right"

If VScrollBar1.Value < 230 Then

VScrollBar1.Value = VScrollBar1.Value + 20

Else

VScrollBar1.Value = 250

End If

synth.SpeakAsync("command executed" + " right ")

'SetColor(Color.right)

'SerialPort1.Write("green")

Case "fast"

If VScrollBar7.Value >= 6 Then

VScrollBar7.Value = VScrollBar7.Value - 1

Else

VScrollBar7.Value = 5

End If

synth.SpeakAsync("command executed" + " fast ")

'SetColor(Color.fast)

'SerialPort1.Write("blue")

Case "slow"

If VScrollBar7.Value <= 15 Then

VScrollBar7.Value = VScrollBar7.Value + 1

Else

VScrollBar7.Value = 16

End If

synth.SpeakAsync("command executed" + " slow ")

'SetColor(Color.slow)

'SerialPort1.Write("pink")

Case "center"

VScrollBar1.Value = 127

synth.SpeakAsync("command executed" + " center ")

'SetColor(Color.center)

'SerialPort1.Write("yellow")

Case "stop"

VScrollBar1.Value = VScrollBar1.Value

synth.SpeakAsync("command executed" + " stop ")

'SetColor(Color.stop)

Case "up"

VScrollBar1.Value = 1

synth.SpeakAsync("command executed" + " up ")

Case "down"

VScrollBar1.Value = 254

synth.SpeakAsync("command executed" + " down ")

End Select

End Sub

Private Sub TextBox9_TextChanged(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles TextBox9.TextChanged

End Sub

Private Sub Button12_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button12.Click

Dim str1 As String

str1 = TextBox2.Text + " " + TextBox3.Text + " " + TextBox4.Text + " " + TextBox5.Text + " " + TextBox6.Text + " " + TextBox7.Text + " " + TextBox9.Text

ListBox1.Items.Add(str1)

numlistbox = numlistbox + 1

'MessageBox.Show(numlistbox)

End Sub

Private Sub Timer1_Tick(ByVal sender As Object, ByVal e As System.EventArgs) Handles Timer1.Tick

Dim cnt As Integer

Me.VScrollBar6.Value = sv(5)

Me.VScrollBar5.Value = sv(4)

Me.VScrollBar4.Value = sv(3)

Me.VScrollBar3.Value = sv(2)

Me.VScrollBar2.Value = sv(1)

Me.VScrollBar1.Value = sv(0)

tx = Val(TextBox8.Text)

TextBox10.Text = tx

If newposflag = 1 Then

If ((runflag = 1) And (numlistbox > a)) Then

If lv = 1 Then

Me.str = ListBox1.Items.Item(a)

cnt = 0

For Each j As Short In Me.str.Split(" ")

sd(cnt) = Val(j)

cnt = cnt + 1

delay = sd(6)

TextBox11.Text = delay

lv = 0

Else

If dec = 0 Then

For cnt = 0 To 5 Step 1

If ((tx <> 0) And (sv(cnt) <> sd(cnt))) Then

If (sd(cnt) > sv(cnt) And (sv(cnt) + tx < sd(cnt))) Then

sv(cnt) = sv(cnt) + tx

ElseIf (sd(cnt) < sv(cnt) And (sv(cnt) > sd(cnt) + tx)) Then

sv(cnt) = sv(cnt) - tx

Else

sv(cnt) = sd(cnt)

End If

Else

sv(cnt) = sd(cnt)

End If

Next cnt

For cnt = 0 To 5 Step 1

If (sv(cnt) = sd(cnt)) Then

If cnt = 5 Then

dec = 1

End If

Else

Exit For

End If

Next cnt

End If

If dec = 1 Then

If delay = 0 Then

a = a + 1

lv = 1

dec = 0

Else

delay = delay - 1

End If

Else

runflag = 0

End If

newposflag = 0

End If

End Sub

Private Sub Button13_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button13.Click

'save to file

Dim userMsg As String

userMsg = Microsoft.VisualBasic.InputBox("enter the file name with path ", "save file As", "C:\VBtest\")

Dim li As Integer

w = New IO.StreamWriter(userMsg)

For li = 0 To ListBox1.Items.Count - 1

w.WriteLine(ListBox1.Items.Item(li))

w.Close()

End Sub

Private Sub Button14_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button14.Click

'load to listbox

Dim testMsg As Integer

Dim userMsg As String

testMsg = MsgBox("to u want to append data ", vbYesNoCancel + vbExclamation, "append or clear")

If testMsg <> 6 Then

ListBox1.Items.Clear()

End If

userMsg = Microsoft.VisualBasic.InputBox("enter the file name with path ", "load from ", "C:\VBtest\")

r = New IO.StreamReader(userMsg)

While (r.Peek() > -1)

ListBox1.Items.Add(r.ReadLine)

End While

r.Close()

End Sub

Private Sub Button15_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button15.Click

'clear list box

ListBox1.Items.Clear()

End Sub

End Class

Serial Servo Controller Part-2

Hello ,
I've blah blah'd a lot in my previous blog regarding servo controller more than 2 year ago .
http://miniprojects-be-btech.blogspot.in/2011/08/serial-servo-controller.html

Now I would like to share the code , incidentally its my Btech final year project .
schedular based serial servo controller based on AVR & GUI has been developed using VB ( will share the GUI details in next blog ) , GUI can read command from a file something like a sequencer .

Code goes like this .

#include
#include
#include
#define F_CPU 16000000UL
#include
#include

#define SETBIT(ADDRESS, BIT) (ADDRESS |= (1 << BIT))
#define CLEARBIT(ADDRESS, BIT) (ADDRESS &= ~(1 << BIT))

/// Data Types /////////
typedef unsigned char u8;
typedef unsigned int u16;
u8 prev;
u8 position[8],count=0;

typedef struct task
{
// pointer to a function
void (*pfunc) (void);
// delay before the first call
u16 delay;
// interval between subsequent runs
u16 period;
// flag indicating time to run
u8 run;
}task;

/// Defines ///////////
// 25msec period 256-180
// 7.3728MHz and /1024 prescaler
#define StartFrom 200
// maximum number of tasks
#define MAXnTASKS 3

/// Globals ///////////
volatile task TaskArray[MAXnTASKS];
void InitScheduler (void);
void DeleteTask (u8 index);
void AddTask (void (*taskfunc)(void), u16 taskdelay, u16 taskperiod);
void DispatchTask (void);
void PWM (void);
void get1 (void);

void USARTWriteChar(unsigned char data)
{
//Wait untill the transmitter is ready
while(!(UCSRA & (1< {
//Do nothing
}

//Now write the data to USART buffer

UDR=data;
}
char USARTReadChar(void)
{

while ( !(UCSRA & (1<{

}

return UDR;

}

void USARTInit(uint16_t ubrr_value)
{

//Set Baud rate
UBRRL = ubrr_value;
UBRRH = (ubrr_value>>8);
DDRD=1< DDRA=255;

/*Set Frame Format

>> Asynchronous mode
>> No Parity
>> 1 StopBit
>> char size 8

*/

UCSRC=(1<

//Enable The receiver and transmitter
UCSRB=(1<

}

int main()
{

InitScheduler();
DDRA=0xff;
DDRB=0;
PORTB=255;
USARTInit(103);
_delay_ms(10);
// populate task array
position[7]=1;
position[6]=1;
position[5]=1;
position[4]=1;
position[3]=1;
position[2]=1;
position[1]=1;
position[0]=1;
AddTask (PWM, 0, 8);
AddTask (get1, 1, 8);
// enable interrupts
// sei();
cli();
while (1)
{
get1 ();
}

}
void InitScheduler (void)
{
u8 i;

// timer prescaler clock/1024
TCCR0 |= (1< // clear pending interrupts
TIFR = 1< // enable timer0 overflow interrupt
TIMSK |= 1< // load timer0
TCNT0 = StartFrom;

// clear task array
for (i=0; i}

void DeleteTask (u8 j)
{
TaskArray[j].pfunc = 0x0000;
TaskArray[j].delay = 0;
TaskArray[j].period = 0;
TaskArray[j].run = 0;
}

void AddTask (void (*taskfunc)(void), u16 taskdelay, u16 taskperiod)
{
u8 n=0;

// find next available position
while ((TaskArray[n].pfunc != 0) && (n < MAXnTASKS)) n++;

// place task
if (n < MAXnTASKS)
{
TaskArray[n].pfunc = taskfunc;
TaskArray[n].delay = taskdelay;
TaskArray[n].period = taskperiod;
TaskArray[n].run = 0;
}
}

SIGNAL(SIG_OVERFLOW0)
{
u8 m;
// testing

// load timer
TCNT0 = StartFrom;

for (m=0; m {
if (TaskArray[m].pfunc)
{
if (TaskArray[m].delay == 0)
{
TaskArray[m].run = 1;
TaskArray[m].delay = TaskArray[m].period;
}
else TaskArray[m].delay--;
}
}

}

void DispatchTask (void)
{
u8 k;

for (k=0; k {
if (TaskArray[k].run == 1)
{
// run task
(*TaskArray[k].pfunc)();
// clear run flag
TaskArray[k].run = 0;
}
}
}

void PWM (void)
{
cli();
int tnow;
if(1)
{
SETBIT(PORTA, 0);
}
if(1)
{
SETBIT(PORTA, 1);
}
if(1)
{
SETBIT(PORTA, 2);
}
if(1)
{
SETBIT(PORTA, 3);
}
if(1)
{
SETBIT(PORTA, 4);
}
if(1)
{
SETBIT(PORTA, 5);
}
if(1)
{
SETBIT(PORTA, 6);
}
if(1)
{
SETBIT(PORTA, 7);
}

_delay_us(597);

for(tnow=0;tnow<128 p="" tnow="">{
if(position[7]==tnow)
{
CLEARBIT(PORTA, 0);
}
if(position[6]==tnow)
{
CLEARBIT(PORTA, 1);
}
if(position[5]==tnow)
{
CLEARBIT(PORTA, 2);
}
if(position[4]==tnow)
{
CLEARBIT(PORTA, 3);
}
if(position[3]==tnow)
{
CLEARBIT(PORTA, 4);
}
if(position[2]==tnow)
{
CLEARBIT(PORTA, 5);
}
if(position[1]==tnow)
{
CLEARBIT(PORTA, 6);
}
if(position[0]==tnow)
{
CLEARBIT(PORTA, 7);
}
_delay_us(5);
}// end of tnow

sei();
}

void get1 (void)
{
int i;
unsigned int send=position[0];
send=send+10;
USARTWriteChar(send);
//USARTWriteChar('\');
//USARTWriteChar('n');
for(i=0;i<1 i="" p="">position[i]=USARTReadChar();

}

Neural Networks Matlab

neural networks matlab
using NNTOOL
here we will be training a network to recognize a particular pattern
first we have to normalize the data.......
let the data be (X)
2 5 6 3 1
5 2 2 5 1
4 4 5 4 4
1 5 2 4 5
1 6 6 6 6
3 6 3 2 1
6 4 2 5 4
3 1 2 5 3
4 1 4 3 1
2 2 3 4 3

each column a particular pattern
first find the minimum value from each column and subtract
the same then divide the whole column with the max value (column)
ull get data something like this (x)

0.5822 0.5447 0.4046 0.6963 0.3477
0.5407 0.6473 0.4484 0.0938 0.1500
0.8699 0.5439 0.3658 0.5254 0.5861
0.2648 0.7210 0.7635 0.5303 0.2621
0.3181 0.5225 0.6279 0.8611 0.0445
0.1192 0.9937 0.7720 0.4849 0.7549
0.9398 0.2187 0.9329 0.3935 0.2428
0.6456 0.1058 0.9727 0.6714 0.4424
0.4795 0.1097 0.1920 0.7413 0.6878
0.6393 0.0636 0.1389 0.5201 0.3592

let the output of each pattern be(y)
0.7363 0.3947 0.6834 0.7040 0.4423
output corresponding to each column,normalized
x(:,1)-->y(1,1)
x(:,2)-->y(1,2) lly

type nntool at matlab command window another window named
Network/Data Manager will open (1.jpg)

click on import button and export x as input data and y as target data !
half way !!! ;)
ull get a message like this (2.jpg)
after this close import window ,now ur network/data manager window will look like this (3.JPG)

now click on new button ull see another window here u have to select the type of NN u want to create
we will be create a feedforward back propagation NN most popular one
der u select the inputs and target data (4.JPG)

then click on create and close that window
now u should be able to see a network in network/data manager window(middle)
click on that newly created network (icon) then click on open
ull see another window (5.jpg)
click on train tab -> then training info
add inputs and targets as x,y then click on train network ....wait for some time ull see a graph once the
goal is met click on stop training button and close that graph and this window ..
now our NN is trained and is read for testing ........ hurray
after this click on export button in network/data manager ....
now close this window ..u should be able to see ur trained network in ur matlab work space......

now use this command
output=sim("networkname","data")
example
output=sim(network1,x(:,1))
which should be same as y(1,1)
u can test ur network reliability by adding noise .....
ur rand function for this purpose

thats it ........
thks