F I S H B O W L
p r o j e c t 1 :: w e e k 4
FINAL PROJECT
SETUP PICTURES
Pictures of final apparatus setup and fish swimming over light sensors embedded under tank.
FINAL VERSION OF CODE
****************************************************************
'* Name : Fish Bowl Project 1.0 *
'* Author : Alysse *
'* Date : 10/6/2004 *
'* Version : 1.0 *
'* Notes : 1.Includes serial output to monitor data from
'* optical sensor.
'* 2. At begining session : 2 sets of sensors *
'* labeled red and yellow find initial base *
'* reading for each sensor *
'* 3. sensors are at either end of tank (in
'* real setup they would correspond to different
'* sounding chimes)
'* 4. if any of four sensors representing a color
'* goes below a shadow level - the chime is hit
'* 5. long chime - if just a shadow
'* short chime - if shadow is extremely dark (
'* i.e. fish directly over sensor)
'****************************************************************
DEFINE OSC 4
DEFINE ADC_BITS 10 ' Set number of bits in result
DEFINE ADC_CLOCK 3 ' Set clock source (3=rc)
DEFINE ADC_SAMPLEUS 50 ' Set sampling time in uS
PORTB = %00000000 ' Set PORTC to all output
PORTC = %00000000 ' Set PORTD to all output
TRISA = %11111111 ' Set PORTA to all input
TRISE = %11111111 ' set port E to all input (40-pin PICs)
ADCON1 = %10000010 ' Set PORTA analog and right justify
redSensors VAR WORD[4]
ylSensors VAR WORD[4]
meanRed VAR WORD[4]
meanYl Var Word[4]
minRed VAR WORD[4]
maxRed Var WORD[4]
minYl VAR WORD[4]
maxYl VAR WORD[4]
varRed VAR WORD[4]
varYl VAR WORD[4]
ylLED VAR PORTB.7
txPin VAR PORTC.6
servo_1 VAR PORTC.3
pulseWidth VAR WORD
i VAR BYTE
j VAR BYTE
' set up constants with the minimum and maximum pulsewidths
minPulse CON 10
maxPulse CON 110
refreshPeriod CON 20
PAUSE 500
GOSUB blink
GOSUB init
main:
''''''''''''''''''''''''''''''''''''''''
' Read in row of sensor values...
''''''''''''''''''''''''''''''''''''''''
for i = 0 TO 3 STEP 1
ADCIN i, redSensors[i]
Next i
FOR i = 4 TO 7 STEP 1
ADCIN i, ylSensors[i - 4]
NEXT i
'''''''''''''''''''''''''''''''''''''''''''''''''''
' shadow level :: if any of the four sensors is
' below the shadow level - pulse the motor 360 degrees
'
'''''''''''''''''''''''''''''''''''''''''''''''''''
for i = 0 To 3
if redSensors[i] < (meanRed[i] - 2 * varRed[i] - 10) THEN
serout2 txPin, 16468, ["red sensor = ", DEC redSensors[0]," ", DEC redSensors[1], " ", DEC redSensors[2], " ", DECredSensors[3]," ", 13, 10]
' if shadow is very dark run shortChime
if (redSensors[i] < (meanRed[i] - 50)) THEN
SEROUT2 txPin, 16468, ["short chime start...", 13, 10]
GOSUB shortChime
ELSE ' run longChime
SEROUT2 txPin, 16468, ["long chime start...", 13, 10]
GOSUB longChime
ENDIF
ENDIF
IF ylSensors[i] < (meanYl[i] - 2 * varYl[i] - 5) THEN
serout2 txPin, 16468, ["yellow sensor = ", DEC ylSensors[0], " ", DEC ylSensors[1], " ", DEC ylSensors[2], " ", DEC ylSensors[3]," ", 13, 10]
if (ylSensors[i] < (meanYl[i] - 50)) THEN
SEROUT2 txPin, 16468, ["short chime start...", 13, 10]
GOSUB shortChime
ELSE ' run longChime
SEROUT2 txPin, 16468, ["long chime start...", 13, 10]
GOSUB longChime
ENDIF
ENDIF
NEXT I
GoTo main
''''''''''''''''''''''''''''''''''''''''''
' init : set base line levels for the sensors
''''''''''''''''''''''''''''''''''''''''''
init:
for i = 0 TO 3 STEP 1
ADCIN i, redSensors[i]
minRed[i] = redSensors[i]
maxRed[i] = minRed[i]
meanRed[i] = maxRed[i]
Next i
FOR i = 4 TO 7 STEP 1
ADCIN i, ylSensors[i - 4]
minYl[i - 4] = ylSensors[i - 4]
maxYl[i -4] = minYl[i -4]
meanYl[i - 4] = maxYl[i -4]
NEXT i
for j = 1 TO 99
for i = 0 TO 3 STEP 1
ADCIN i, redSensors[i]
if (redSensors[i]> maxRed[i]) THEN
maxRed[i] = redSensors[i]
ENDIF
IF (redSensors[i] < minREd[i]) THEN
minRed[i] = redSensors[i]
ENDIF
'meanRed[i] = redSensors[i] + meanRed[i]
Next i
'PAUSE 100
for i = 4 TO 7 STEP 1
ADCIN i, ylSensors[i - 4]
if (ylSensors[i-4]> maxYl[i-4]) THEN
maxYl[i-4] = ylSensors[i-4]
ENDIF
IF (ylSensors[i-4] < minYl[i-4]) THEN
minYl[i-4] = ylSensors[i-4]
ENDIF
'meanRed[i] = redSensors[i] + meanRed[i]
Next i
PAUSE 100
NEXT j
for i = 0 to 3
meanREd[i] = (maxREd[i] + minRed[i])/2; 'meanRed[i] / 100
varREd[i] = maxREd[i] - minRed[i];
NEXT I
FOR i = 4 TO 7
meanYl[i - 4] = (maxYl[i - 4] + minYl[i -4])/2;
varYl[i-4] = maxYl[i-4] - minYl[i-4];
NEXT i
serout2 txPin, 16468, ["mean RED = ", DEC meanRed[0], " ", DEC meanRed[1], " ", DEC meanREd[2], " ", DEC meanRed[3]," ", 13, 10]
serout2 txPin, 16468, ["min RED = ", DEC minRed[0], " ", DEC minRed[1], " ", DEC minREd[2], " ", DEC minRed[3]," ", 13, 10]
serout2 txPin, 16468, ["max RED = ", DEC maxRed[0], " ", DEC maxRed[1], " ", DEC maxREd[2], " ", DEC maxRed[3]," ", 13, 10]
serout2 txPin, 16468, ["var RED = ", DEC varRed[0], " ", DEC varRed[1], " ", DEC varREd[2], " ", DEC varRed[3]," ", 13, 10]
serout2 txPin, 16468, ["mean Yellow = ", DEC meanYl[0], " ", DEC meanYl[1], " ", DEC meanYl[2], " ", DEC meanYl[3]," ", 13, 10]
serout2 txPin, 16468, ["min Yellow = ", DEC minYl[0], " ", DEC minYl[1], " ", DEC minYl[2], " ", DEC minYl[3]," ", 13, 10]
serout2 txPin, 16468, ["max Yellow = ", DEC maxYl[0], " ", DEC maxYl[1], " ", DEC maxYl[2], " ", DEC maxYl[3]," ", 13, 10]
serout2 txPin, 16468, ["var Yellow = ", DEC varYl[0], " ", DEC varYl[1], " ", DEC varYl[2], " ", DEC varYl[3]," ", 13, 10]
RETURN
'''''''''''''''''''''''''''''''''''''
' SUB Routines : shortChime and Long Chime
'
''''''''''''''''''''''''''''''''''''
shortCHIME:
for j = minPulse to maxPulse STEP 20
LOW servo_1
PULSOUT servo_1, j
PAUSE refreshPeriod
NEXT j
for j = maxPulse to minPulse STEP -20
LOW servo_1
PULSOUT servo_1, j
PAUSE refreshPeriod
NEXT j
PAUSE 500 ' PAUSE AFTER chime is hit
RETURN
longCHIME:
for j = minPulse to maxPulse STEP 5
LOW servo_1
PULSOUT servo_1, j
PAUSE refreshPeriod
NEXT j
for j = maxPulse to minPulse STEP -5
LOW servo_1
PULSOUT servo_1, j
PAUSE refreshPeriod
NEXT j
PAUSE 500 ' pause after chime is hit
RETURN
'''''''''''''''''''''''''''''''''''''''''''
' blink : subroutine for starting computer
''''''''''''''''''''''''''''''''''''''''''
blink:
SEROUT2 txPin,16468, ["Blinking", 13, 10]
HIGH ylLED
PAUSE 800
LOW ylLED
PAUSE 800
HIGH ylLED
PAUSE 800
LOW ylLED
PAUSE 800
HIGH ylLED
PAUSE 800
LOW ylLED
PAUSE 800
HIGH ylLEd
return
