Robotics Technologies microBus-Cam II Manual do Utilizador descarregar pdf (Página 18)

Mobile Robots – Current Trends

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The estimated position and heading can be detailed in software called PAMRO developed

by Visual C

as shown in Fig. 28.

Fig. 28. The software PAMRO

5.3.2 Function ordering for compass information reading

The function ordering for compass module is detailed below.

Step 1 : I2C_START ( ),

Step 2 : I2C_SEND ( ) – Call compass address from robot and write mode configuration,

Step 3 : I2C_ACK ( ),

Step 4 : I2C_SEND ( ) – Write the register number,

Step 5 : I2C_ACK ( ),

Step 6 : I2C_START ( ),

Step 7 : I2C_SEND ( ) – Call compass address again,

Step 8 : I2C_ACK ( ),

Step 9 : I2C_RECEIVE ( ),

Step 10 : I2C_ACK ( ),

Step 11 : I2C_STOP ( ).

5.3.3 Function ordering for gyroscope information reading

To read gyroscope information, it needs device to convert analog to digital signal, because

this gyroscope is not designed to work on I

C bus system. The IC-PCF8591is selected

supported the I

C bus system to convert analog signal from gyroscope information.

Step 1 : I2C_START ( ),

Step 2 : I2C_SEND ( ) – Call slave device address from robot and write mode

configuration,

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Robotics Technologies microBus-Cam II Manual do Utilizador Página 18