{"id":397,"date":"2011-01-21T11:39:50","date_gmt":"2011-01-21T10:39:50","guid":{"rendered":"http:\/\/pinguino.walii.es\/?p=397"},"modified":"2011-01-21T12:45:59","modified_gmt":"2011-01-21T11:45:59","slug":"proyecto-cardrone-con-pinguino","status":"publish","type":"post","link":"https:\/\/pinguino.walii.es\/?p=397","title":{"rendered":"Proyecto Cardrone Con PINGUINO"},"content":{"rendered":"

<\/span><\/p>\n

Este proyecto intenta la reutilizaci\u00f3n de un veh\u00edculo radio controlado, reemplazando toda la electr\u00f3nica con un micro-controlador PINGUINO<\/strong>, y el medio de transmisi\u00f3n, reemplazarlo con el protocolo de comunicaci\u00f3n 802.15.4 ( XBEE\/ZigBee), <\/strong>ofreciendo la capacidad de control a una distancia mayor a un kilometro.<\/span><\/p>\n

<\/span>Adicionando a esta mejora, y entendiendo que a esta altura se podr\u00eda controlar el veh\u00edculo con cualquier ordenador con un m\u00f3dulo XBEE conectado por USB\u2026 podr\u00edamos agregar la facilidad de controlarlo mediante un tel\u00e9fono m\u00f3vil o ipad <\/span>\u201cIPHONE\/ANDROID\u201d<\/strong>, mediante la utilizaci\u00f3n de PROCESSING<\/strong> y con la librer\u00eda de comunicaci\u00f3n OSCnet<\/strong> (para el caso de los dispositivos m\u00f3viles se utiliza el programa TouchOSC<\/strong>).<\/span><\/p>\n

Nota: la versi\u00f3n de touchOSC para ANDROID es 100% gratis y de libre distribuci\u00f3n.<\/span><\/strong><\/p>\n

La de IPHONE tiene un precio de $5.- d\u00f3lares por \u00fanica vez en la tienda de APPELSTORE<\/span><\/strong><\/p>\n

$\"\"$ <\/a><\/p>\n

<\/span><\/p>\n

<\/span><\/strong><\/p>\n

Video del proyecto finalizado.<\/span><\/strong><\/p>\n

Video de funcionamiento<\/a><\/p>\n

.<\/span><\/strong><\/p>\n

<\/iframe><\/p>\n\n\n<\/p>\n\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\nHERRAMIENTAS NECESARIAS PARA ESTA APLICACI\u00d3N:<\/span><\/strong><\/p>\n <\/span><\/span><\/span><\/strong><\/p>\nPROCESSING<\/span><\/strong> _ link general <a href=\"http:\/\/processing.org\/\">http:\/\/processing.org\/<\/a><\/span><\/p>\nLink de descarga <\/span><a href=\"http:\/\/processing.org\/download\/\">http:\/\/processing.org\/download\/<\/span><\/a><\/span><\/p>\n <\/span><\/p>\n <\/span>LIBRER\u00cdA OSC incluida en el paquete original (OSC OpenSoundControl)<\/span><\/p>\nPensada principalmente para controlar equipos de m\u00fasica profesionales de forma remota.<\/span><\/p>\nLIBRER\u00cdA SERIAL incluida en el paquete original<\/span><\/p>\n <\/span><\/p>\nTOUCH OSC<\/span><\/strong> _ link general <\/span>y link de descarga <\/span><a href=\"http:\/\/hexler.net\/software\/touchosc\">http:\/\/hexler.net\/software\/touchosc<\/span><\/a><\/span><\/p>\nTouch OSC versi\u00f3n de prueba para IPHONE desde el APPLE STORE ($5 dolares)<\/span><\/p>\n<a href=\"http:\/\/itunes.apple.com\/us\/app\/touchosc\/id288120394?mt=8\">http:\/\/itunes.apple.com\/us\/app\/touchosc\/id288120394?mt=8<\/span><\/a><\/span><\/p>\n <\/span><\/p>\nTouch OSC versi\u00f3n para ANDROID <\/span>(totalmente gratis)<\/span><\/p>\n<a href=\"http:\/\/hexler.net\/software\/touchosc-android\">http:\/\/hexler.net\/software\/touchosc-android<\/span><\/a><\/span><\/p>\n <\/span><\/p>\nPINGUINOPIC<\/span><\/strong><\/p>\nSe utiliza un ping\u00fcino modelo 18f4550 adquirido en el KIT armado de la web <\/span><a href=\"http:\/\/pinguino.walii.es\/\">http:\/\/pinguino.walii.es<\/span><\/a><\/span><\/p>\n <\/span><\/p>\nGUI PINGUINO PIC<\/span><\/strong><\/p>\nUtilizamos la versi\u00f3n de PING\u00dcINO en este momento la 9.04<\/span><\/p>\n<a href=\"http:\/\/www.hackinglab.org\/pinguino\/download\/latestpinguino\/\">http:\/\/www.hackinglab.org\/pinguino\/download\/latestpinguino\/<\/span><\/a><\/span><\/p>\n <\/span><\/p>\nXBEE pro & XBEE explorer USB<\/span><\/strong><\/p>\nSe utilizan dos XBEEs PRO de 60mW y un adaptador USB \u201cXBEE Explorer\u201d adquiridos en sparkfun.com<\/span><\/p>\n<a href=\"http:\/\/www.sparkfun.com\/products\/8742\">http:\/\/www.sparkfun.com\/products\/8742<\/span><\/a><\/span><\/p>\n<a href=\"http:\/\/www.sparkfun.com\/products\/8687\">http:\/\/www.sparkfun.com\/products\/8687<\/span><\/a><\/span><\/p>\n <\/span><\/p>\n <\/span><\/strong><\/p>\nIDEA DEL PROYECTO:<\/span><\/strong><\/p>\n <\/span>Lo primero que debemos tener en cuenta es: \u00bfqu\u00e9 es lo que queremos controlar?\u2026<\/strong><\/span><\/p>\nEn principio son dos motores uno de direcci\u00f3n izquierda\/derecha <\/span>y otro de movimiento delante\/atr\u00e1s. Ambos necesitan una inversi\u00f3n de tensi\u00f3n en sus extremos y encontrarse sin energ\u00eda en su punto de reposo. <\/span>Al mismo tiempo necesitamos 2 tipos de luces, una blanca para la iluminaci\u00f3n general y otra infrarroja para la adici\u00f3n futura de una c\u00e1mara wifi.<\/span><\/p>\n <\/span>Tambi\u00e9n se nos ocurri\u00f3 agregarle un Buzzer tipo bocina o alarma\u2026<\/span><\/p>\n <\/span><\/span><\/p>\n <\/span>En total deber\u00edamos tener 2 puertos digitales para los motores, m\u00e1s otros 3 para luces y buzzer.<\/span><\/p>\n5 puertas digitales comandadas v\u00eda serie. Por ejemplo con teclas identificadas para cada acci\u00f3n.<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\nNOTA: tambi\u00e9n es posible reenviar v\u00eda serie, par\u00e1metros como temperatura, posici\u00f3n GPS, nivel de se\u00f1al wifi, iluminaci\u00f3n y humedad. Para esto utilizar\u00edamos los puertos anal\u00f3gicos, esto lo he dejado para m\u00e1s adelante\u2026 <\/span><\/span><\/strong><\/p>\n <\/span><\/p>\n<span style=\"font-size: 11.0pt; font-family: &amp;amp; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: &amp;amp; mso-bidi-theme-font: minor-bidi; mso-ansi-language: ES; mso-fareast-language: EN-US; mso-bidi-language: AR-SA;\"> <\/span><\/p>\n <\/span><\/p>\nINICIO PROYECTO (COMUNICACI\u00d3N SERIE)<\/span><\/strong><\/p>\n <\/span><\/p>\n <\/span>El proyecto comienza con el kit PINGUINO program\u00e1ndolo para ser controlado v\u00eda Puerto serie, esto se genera f\u00e1cilmente, utilizando el siguiente c\u00f3digo. En modo de prueba puede ser comandado con un adaptador RS232 a TTL conectado en nuestro ordenador y con cualquier programa de consola\u2026 para verificar que enviamos y recibimos los datos.<\/span><\/p>\n <\/span><\/p>\nNota: cabe la aclaraci\u00f3n que esto no funciona con un adaptador USB\/SERIE, necesitamos un puerto serie propietario para que funcione\u2026 si no poseemos un puerto serie propietario deber\u00edamos tener un adaptador directo USB\/TTL<\/span><\/strong><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image004.gif\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-402\" title=\"clip_image004\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image004.gif\" alt=\"\" width=\"589\" height=\"222\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image004.gif 589w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image004-300x113.gif 300w\" sizes=\"(max-width: 589px) 100vw, 589px\" \/><\/a><\/p>\n\n <\/span><\/strong><\/p>\n <\/strong><\/p>\n <\/strong><\/p>\n <\/span><\/p>\nEl programa de PING\u00dcINO que creamos a tal efecto es el siguiente:<\/span><\/p>\n<p class=\"MsoNormal\" style=\"margin-bottom: .0001pt; line-height: 13.5pt; tab-stops: 45.8pt 91.6pt 137.4pt 183.2pt 229.0pt 274.8pt 320.6pt 366.4pt 412.2pt 458.0pt 503.8pt 549.6pt 595.4pt 641.2pt 687.0pt 732.8pt;\"> <\/span><\/p>\n[sourcecode language=\u00bbpy\u00bb]<\/p>\n\/* \n* \n* IPHONE+TouchOSC+PROCESSING+XBEE+PINGUINO \n* \n* Example to control a remote control card \n* with all the PINGUINO PIC electronic \n* And received all the control information \n* from a XBEE \n*\/<\/p>\nuchar key; \nint i; \nvoid setup() \n{ \nfor ( i=0 ; i <8; i++){ \npinMode(i,OUTPUT); \ndigitalWrite(i,LOW); \n} \nSerial.begin(9600); \n}<\/p>\nvoid loop() \n{ \nif (Serial.available()>0) \/\/only apply if we have information into the serial port { key=Serial.read(); \nif (key==’l’) digitalWrite(4,digitalRead(4)^1);\/\/change the status of port 4 to invert value \nif (key==’i’) digitalWrite(5,digitalRead(5)^1);\/\/change the status of port 4 to invert value \nif (key==’b’) digitalWrite(7,digitalRead(7)^1);\/\/change the status of port 4 to invert value \nif (key==’a’) digitalWrite(0,HIGH); \/\/go a head \nif (key==’s’) digitalWrite(1,HIGH); \/\/go back \nif (key==’d’) digitalWrite(2,HIGH); \/\/left \nif (key==’f’) digitalWrite(3,HIGH); \/\/right \nif (key==’z’) digitalWrite(0,LOW); \/\/stop move a head \nif (key==’x’) digitalWrite(1,LOW); \/\/stop move back \nif (key==’c’) digitalWrite(2,LOW); \/\/stop turn left \nif (key==’v’) digitalWrite(3,LOW); \/\/stop turn right<\/p>\nSerial.print("received… OK!!!"); \/\/debug serial answer \nSerial.print("\\n\\r"); \nSerial.flush();\/\/clear the serial buffer }<\/p>\n} \n[\/sourcecode]<\/p>\n <\/span><\/p>\n <\/span><\/strong><\/p>\n <\/span><\/strong><\/p>\nNOTA: AL ser una comunicaci\u00f3n serie, tenemos que entender que recibir\u00edamos car\u00e1cter tras car\u00e1cter a una velocidad de 9600, para convertir esta comunicaci\u00f3n en multitarea para nuestro pinguino, entonces se nos ocurri\u00f3 cambiar el estado de las puertas digitales con diferentes teclas, por tal motivo si presionamos la tecla \u201ca\u201d elevar\u00edamos el estado de la puerta \u201c0\u201d, y este no bajar\u00eda hasta no recibir un car\u00e1cter \u201cx\u201d.<\/span><\/strong><\/p>\n <\/span><\/strong><\/p>\n <\/span><\/strong><\/p>\n <\/span>\u00bfPor qu\u00e9 hacemos esto? <\/span>B\u00e1sicamente si elevar\u00edamos el estado de alguna puerta \u201csolo al recibir un car\u00e1cter \u201ca\u201d \u201d, cuando querremos ir recto y girar al mismo tiempo, no podr\u00edamos<\/strong>, ya que cuando recibimos el car\u00e1cter \u201ca\u201d el veh\u00edculo circular\u00eda hacia delante, pero en el siguiente siclo si recibi\u00e9ramos un car\u00e1cter \u201cd\u201d (para girar la direcci\u00f3n), al no recibir m\u00e1s el car\u00e1cter \u201ca\u201d el motor se detendr\u00eda y no girar\u00edamos. <\/span><\/em><\/span><\/p>\n <\/span>Esto lo podremos probar mediante una consola serie (RS232 to TTL) conectada directamente con el ping\u00fcino.<\/span><\/em><\/p>\nVerificando que cada vez que enviamos un comando, nos responde la consola con el mensaje \u201creceived\u2026OK!!!\u201d, y al mismo tiempo verificamos la activaci\u00f3n de las salidas digitales, esto se puede hacer con LEDs colocados en cada puerta.<\/span><\/em><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image007.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-403\" title=\"clip_image007\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image007.jpg\" alt=\"\" width=\"640\" height=\"339\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image007.jpg 640w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image007-300x158.jpg 300w\" sizes=\"(max-width: 640px) 100vw, 640px\" \/><\/a><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image009.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-404\" title=\"clip_image009\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image009.jpg\" alt=\"\" width=\"640\" height=\"490\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image009.jpg 640w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image009-300x229.jpg 300w\" sizes=\"(max-width: 640px) 100vw, 640px\" \/><\/a><\/p>\n \n<\/span><\/em><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span>Tras verificar que todo funciona utilizando la comunicaci\u00f3n serie tradicional, pasaremos a transformar esta comunicaci\u00f3n a protocolo 802.15.4, para convertir la comunicaci\u00f3n serie v\u00eda cable, en una conexi\u00f3n inal\u00e1mbrica.<\/span><\/p>\n <\/span><\/p>\n<span style=\"font-size: 14.0pt; mso-bidi-font-size: 10.0pt; font-family: &amp;amp; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: &amp;amp; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: &amp;amp; mso-bidi-theme-font: minor-bidi; mso-ansi-language: ES; mso-fareast-language: ES; mso-bidi-language: AR-SA;\"> <\/span><\/strong><\/p>\n <\/span><\/strong><\/p>\n\u00bfCOMO PROGRAMAMOS LOS M\u00d3DULOS XBEE?<\/span><\/strong><\/p>\n <\/span>Cuando reseteamos o conectamos un modulo XBEE, si dentro de los primeros 10 segundos este reciben por su RX tres signos de sumar \u201c+++\u201d ingresaremos en el modo de configuraci\u00f3n, y podremos escribir lo que deseemos en nuestro modulo.<\/span><\/p>\n <\/span>B\u00e1sicamente el \u00fanico par\u00e1metro que necesitamos configurar es el PAN ID, ya que todos los m\u00f3dulos dentro del mismo PanID se hablar\u00eda y escuchar\u00edan, sin necesidad de hacer nada mas, quiz\u00e1s m\u00e1s adelante podr\u00edamos configurarlo con mayor seguridad, indicando las direcciones MAC para los interlocutores, pero con esta modificaci\u00f3n ya tendr\u00edamos funcionando nuestros m\u00f3dulos.<\/span><\/p>\n <\/span><\/p>\nNOTA: tambi\u00e9n existe una opci\u00f3n de configurarlos en Windows con el programa XCTU, el cual es gratuito y se descarga del siguiente v\u00ednculo. <\/span><\/strong><a href=\"http:\/\/www.digi.com\/support\/productdetl.jsp?pid=3352&osvid=57&s=316&tp=5&tp2=0\">http:\/\/www.digi.com\/support\/productdetl.jsp?pid=3352&osvid=57&s=316&tp=5&tp2=0<\/strong><\/a><\/span><\/p>\n <\/span><\/p>\n <\/span><\/span>Hay que escribirle el mismo PanID a los dos m\u00f3dulos, y autom\u00e1ticamente funcionar\u00edan como un BRIDGE (PUENTE) \u201ctodo lo que recibo en el puerto serie lo env\u00edo por mi conexi\u00f3n inal\u00e1mbrica, y de la forma inversa, todo lo que recibo en la conexi\u00f3n inal\u00e1mbrica lo transmito a mi puerto serie\u201d.<\/strong><\/span><\/p>\n <\/span>Para escribir la configuraci\u00f3n deberemos conectar cada modulo al adaptador serie (Xbee Explorer USB), en la consola serie configuraremos el puerto en cuesti\u00f3n\u2026 y antes que pasen los 10 segundos presionaremos tres veces seguidas el signo de sumar \u201c+++\u201d<\/span><\/p>\n <\/span><\/p>\nEntrando en el modo de configuraci\u00f3n.<\/span><\/span><\/strong><\/p>\n <\/span><\/span><\/span><\/p>\nPara ver el PanID actualmente configurado haremos lo siguiente.<\/span><\/p>\n\u201cATID <\/span>[enter]\u201d<\/span><\/strong> lo que nos devolver\u00e1 el PanID original de fabrica siempre es \u201c1111<\/strong>\u201d<\/span><\/p>\n <\/span><\/p>\nPara modificar el PanID:<\/span><\/p>\n\u201cATID1234 [enter]\u201d<\/span><\/strong> <\/span>por ejemplo en este caso el PanID ser\u00e1 \u201c1234<\/strong>\u201d<\/span><\/p>\n <\/span><\/p>\nPara verificar que lo ha cogido deberemos hacer nuevamente:<\/span><\/p>\n\u201cATID\u201d<\/span><\/strong> <\/span>con resultado \u201c1234<\/strong>\u201d, si lo ha configurado correctamente.<\/span><\/p>\n <\/span><\/p>\nPara finalmente escribir la configuraci\u00f3n en la memoria del modulo haremos:<\/span><\/p>\n\u201cATWR\u201d <\/span><\/strong><\/p>\n <\/span><\/p>\nY por \u00faltimo para salir del modo de configuraci\u00f3n, podremos esperar 10 segundos o escribir:<\/span><\/p>\n\u201cATCN\u201d<\/span><\/strong><\/p>\n <\/span><\/p>\n<span style=\"font-size: 11.0pt; font-family: &amp;amp; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: &amp;amp; mso-bidi-theme-font: minor-bidi; mso-ansi-language: ES; mso-fareast-language: EN-US; mso-bidi-language: AR-SA;\"> <\/span><\/p>\n <\/span><\/p>\nComandos de consola del modulo XBEE<\/span><\/span><\/strong><\/p>\n <\/span><\/span><\/span><\/strong><\/p>\n<table class=\"MsoNormalTable\" style=\"width: 100.0%; mso-cellspacing: 1.5pt; border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; mso-yfti-tbllook: 1184; mso-border-insideh: .5pt solid windowtext; mso-border-insidev: .5pt solid windowtext;\" border=\"1\" cellpadding=\"0\" width=\"100%\">\n<tbody>\n<tr style=\"mso-yfti-irow: 0; mso-yfti-firstrow: yes;\">\n<td style=\"width: 9.86%; border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" width=\"9%\" valign=\"top\">Command<\/span><\/em> <\/span><\/td>\n<td style=\"width: 49.3%; border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" width=\"49%\" valign=\"top\">Description<\/span><\/em> <\/span><\/td>\n<td style=\"width: 19.72%; border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" width=\"19%\" valign=\"top\">Valid Values<\/span><\/em> <\/span><\/td>\n<td style=\"width: 19.72%; border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" width=\"19%\" valign=\"top\">Default Value<\/span><\/em> <\/span><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 1;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">ID<\/span> <\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">The network ID of the Xbee module.<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0 – 0xFFFF<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">3332<\/span><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 2;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">CH<\/span> <\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">The channel of the Xbee module.<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0x0B – 0x1A<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0X0C<\/span><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 3;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">SH<\/span> and <\/span>SL<\/span> <\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">The serial number of the Xbee module (<\/span>SH<\/span> gives the high 32 bits, <\/span>SL<\/span> the low 32 bits). Read-only.<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0 – 0xFFFFFFFF \n(for both <\/span>SH<\/span> and <\/span>SL<\/span>)<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">different for each module<\/span><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 4;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">MY<\/span> <\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">The 16-bit address of the module.<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0 – 0xFFFF<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0<\/span><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 5;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">DH<\/span> and <\/span>DL<\/span> <\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">The destination address for wireless communication (<\/span>DH<\/span> is the high 32 bits, <\/span>DL<\/span> the low 32).<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0 – 0xFFFFFFFF \n(for both <\/span>DH<\/span> and <\/span>DL<\/span>)<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0 (for both <\/span>DH<\/span> and <\/span>DL<\/span>)<\/span><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 6;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">BD<\/span> <\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">The baud rate used for serial communication with the Arduino board or computer.<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">0 (1200 bps) \n1 (2400 bps) \n2 (4800 bps) \n3 (9600 bps) \n4 (19200 bps) \n5 (38400 bps) \n6 (57600 bps) \n7 (115200 bps)<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\"><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 7;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\"><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\"><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\"><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\"><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 8;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">RE<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">Restore factory default settings (note that like parameter changes, this is not permanent unless followed by the\u00a0WRcommand).<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\"><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\"><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 9;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">WR<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">Write newly configured parameter values to non-volatile (long-term) storage. Otherwise, they will only last until the module loses power.<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\"><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\"><\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 10; mso-yfti-lastrow: yes;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">CN<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">Exit command mode now. (If you don’t send any commands to the module for a few seconds, command mode will timeout and exit even without a\u00a0CN\u00a0command.)<\/span><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\"><\/td>\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: .75pt .75pt .75pt .75pt;\"><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/span>Ahora conectaremos ambos m\u00f3dulos, uno en el pinguino y otro en el ordenador mediante el adaptador \u201cXBEE EXPLORER USB\u201d<\/span><\/p>\n<span style=\"font-size: 11.0pt; font-family: &amp;amp; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: &amp;amp; mso-bidi-theme-font: minor-bidi; mso-ansi-language: ES; mso-fareast-language: EN-US; mso-bidi-language: AR-SA;\"> <\/span><\/p>\n <\/span><\/p>\n <\/span>Procederemos a verifica la comunicaci\u00f3n, con un programa de consola y pulsando caracteres en la consola, deber\u00edamos recibir el mensaje de respuesta \u201creceived\u2026 OK\u201d<\/strong><\/span><\/p>\nImagen ilustrativa.<\/span><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image011.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-405\" title=\"clip_image011\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image011.jpg\" alt=\"\" width=\"640\" height=\"480\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image011.jpg 640w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image011-300x225.jpg 300w\" sizes=\"(max-width: 640px) 100vw, 640px\" \/><\/a> \n<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span>En este momento tenemos una comunicaci\u00f3n inal\u00e1mbrica entre el ordenador y el PING\u00dcINO, lo bueno de esta comunicaci\u00f3n es su distancia de alcance y su fiabilidad a la hora de interrupciones e interferencias, ya que es un protocolo de comunicaci\u00f3n.<\/strong><\/span><\/p>\n <\/span><\/p>\n <\/span>Llegados a este punto podr\u00edamos encender LEDs remotamente desde un ordenador hasta un PING\u00dcINO a casi un kilometro de distancia<\/strong>, en este momento continuaremos realizando el nivel de electr\u00f3nica de potencia para poder comandar los motores y luces en cuesti\u00f3n.<\/span><\/p>\n <\/span><\/p>\n<span style=\"font-size: 11.0pt; font-family: &amp;amp; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: &amp;amp; mso-bidi-theme-font: minor-bidi; mso-ansi-language: ES; mso-fareast-language: EN-US; mso-bidi-language: AR-SA;\"> <\/span><\/p>\n <\/span><\/p>\nCIRCUITOS ELECTR\u00d3NICOS DE POTENCIA<\/span><\/strong><\/p>\n <\/span>Los siguientes circuitos pueden ayudarnos a realizar la tarea. Ya sea para comandar RELES como para encender luces y buzzer, sin exceder el nivel de potencia de salida del micro controlador.<\/span><\/p>\n <\/span><\/p>\nCircuito para comandar RELES<\/span><\/span><\/strong><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image013.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-406\" title=\"clip_image013\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image013.jpg\" alt=\"\" width=\"291\" height=\"254\" \/><\/a> \n<\/span><\/span><\/strong><\/p>\n <\/span><\/p>\nCircuito para encender LUCES y el BUZZ<\/span><\/span><\/strong><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image015.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-408 alignnone\" title=\"clip_image015\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image015.jpg\" alt=\"\" width=\"262\" height=\"272\" \/><\/a><a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image014.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-407 alignnone\" title=\"clip_image014\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image014.jpg\" alt=\"\" width=\"202\" height=\"254\" \/><\/a> \n<\/span><\/span><\/strong><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span>Tras construir el circuito propuesto, podremos comandar a distancia las funciones de nuestro veh\u00edculo remoto.<\/strong><\/span><\/p>\nEsto con solo presionar unas teclas en una consola serie en nuestro ordenador, y sin ning\u00fan cable de por medio, gracias a XBEE.<\/span><\/strong><\/p>\n <\/span><\/p>\n \n <\/span><\/p>\n<span style=\"font-size: 11.0pt; font-family: &amp;amp; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: Calibri; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: &amp;amp; mso-bidi-theme-font: minor-bidi; mso-ansi-language: ES; mso-fareast-language: EN-US; mso-bidi-language: AR-SA;\"> <\/span><\/p>\n <\/span><\/p>\nTOUCHOSC<\/span><\/strong><\/p>\n <\/span>Ahora vamos un paso m\u00e1s all\u00e1, intentando controlar el veh\u00edculo mediante un tel\u00e9fono o tablet (IPHONE o ANDROID<\/strong>), conectada en la misma red WIFI en la cual tendremos nuestro ordenador con el XBEE conectado.<\/span><\/p>\nLo primero ser\u00e1 crear una plantilla para controlar nuestro veh\u00edculo en formato t\u00e1ctil. Esto lo hacemos con el programa TouchOSC editor.<\/span><\/p>\n <\/span><\/p>\nSe descargar desde el siguiente link. <\/span><\/span><a href=\"http:\/\/hexler.net\/software\/touchosc\">http:\/\/hexler.net\/software\/touchosc<\/a><\/span><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image017.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-409\" title=\"clip_image017\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image017.jpg\" alt=\"\" width=\"393\" height=\"249\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image017.jpg 393w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image017-300x190.jpg 300w\" sizes=\"(max-width: 393px) 100vw, 393px\" \/><\/a> \n<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span>Configurando en cada caso, que es lo que necesitar\u00edamos recibir en cada bot\u00f3n y plantilla.<\/span><\/p>\nEl archivo de configuraci\u00f3n de TouchOSC que hemos creado se puede descargar del siguiente v\u00ednculo. (Hay que estar registrado y logeado)<\/span><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/download\/TouchOSC-CAR-drone.touchosc\">http:\/\/pinguino.walii.es\/download\/TouchOSC-CAR-drone.touchosc<\/span><\/a><\/span><\/p>\n <\/span><\/p>\nCon esto obtendremos las siguientes plantillas en el tel\u00e9fono. <\/span><\/span><\/p>\nUna para el control via teclado y <\/span> <\/span>para el control v\u00eda aceler\u00f3metros.<\/span><\/p>\n \n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image021.gif\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-412\" title=\"clip_image021\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image021.gif\" alt=\"\" width=\"271\" height=\"181\" \/><\/a> \n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image019.gif\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-410\" title=\"clip_image019\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image019.gif\" alt=\"\" width=\"269\" height=\"180\" \/><\/a> \n<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span>Con esto ya instalado en el tel\u00e9fono, procederemos a realizar la interfaz de enlace entre TouchOSC (el tel\u00e9fono o IPAD) con el ordenador, esto lo hacemos con PROCESSING, ya que actualmente posee las librer\u00edas necesarias para realizar el trabajo, por un lado posee las librer\u00edas de OSC (OpenSoundControl<\/strong>), la cual interpreta los mensajes del TouchOSC enviados al puerto TCP 8000<\/strong> de nuestro ordenador, y por otro lado la librer\u00eda de comunicaci\u00f3n SERIE \u201clibrer\u00eda ProcessingSerial\u201d para convertir los datos recibidos en el puerto 8000 en informaci\u00f3n entendible por el puerto serie, en este caso el modulo XBEE (que m\u00e1s tarde transmitir\u00e1 esta informaci\u00f3n al PING\u00dcINO).<\/span><\/p>\n <\/span><\/p>\nPROCESSING<\/span><\/strong><\/p>\nC\u00f3digo de Processing para realizar la interlocuci\u00f3n de la informaci\u00f3n.<\/span><\/p>\n <\/span><\/p>\n<pre style=\"line-height: 13.5pt;\">[sourcecode language=\"py\"]\r\n\r\n\/**\r\n * IPHONE+TouchOSC+PROCESSING+XBEE+PINGUINO\r\n *\r\n * Example displaying a way to modify a remote toy\r\n * and used it with IPHONE\r\n * http:\/\/pinguino.walii.es\r\n * pinguino@walii.es walii@walii.es walterleonardo@gmail.com\r\n *\/\r\n\r\nimport oscP5.*;\r\nimport netP5.*;\r\nOscP5 oscP5;\r\nimport processing.serial.*;\r\nSerial port; \/\/ The serial port object\r\n\r\nfloat xrot = 0;\r\nfloat zrot = 0;\r\nfloat xrot_targ = 0;\r\nfloat zrot_targ = 0;\r\nfloat orientation = 0;\r\nfloat v_up = 0.0f;\r\nfloat v_down = 0.0f;\r\nfloat v_left = 0.0f;\r\nfloat v_right = 0.0f;\r\nfloat v_light = 0.0f;\r\nfloat v_ir = 0.0f;\r\nfloat v_buzz = 0.0f;\r\nfloat vl_up = 0.0f;\r\nfloat vl_down = 0.0f;\r\nfloat vl_left = 0.0f;\r\nfloat vl_right = 0.0f;\r\nfloat vl_light = 0.0f;\r\nfloat vl_ir = 0.0f;\r\nfloat vl_buzz = 0.0f;\r\nfloat valor= 0.0f;\r\nfloat calx;\r\nfloat calz;\r\nString serial;\r\n\r\nvoid setup() {\r\n size(500,500);\r\n frameRate(25);\r\n \/* start oscP5, listening for incoming messages at port 8000 *\/\r\n oscP5 = new OscP5(this,8000);\r\n \/* start Serial, sending messages to PINGUINO port via XBEE *\/\r\n port = new Serial(this, Serial.list()[2], 9600);\r\n serial = Serial.list()[2];\/\/force to connect with XBEE\r\n println(Serial.list()); \/\/debug serial ports\r\n println(serial);\/\/serial port selected\r\n}\r\n\/\/Messages from OSCTOUCH=IPHONE\r\nvoid oscEvent(OscMessage theOscMessage) {\r\n\r\n String addr = theOscMessage.addrPattern();\r\n float val = theOscMessage.get(0).floatValue();\r\n\r\n\/\/detect buttons from screen "CONTROL TACTIL" value \/1\r\nif(addr.equals("\/1\/up")) { v_up = val; }\r\n else if(addr.equals("\/1\/down")) { v_down = val; }\r\n else if(addr.equals("\/1\/left")) { v_left = val; }\r\n else if(addr.equals("\/1\/rigth")) { v_right = val; }\r\n else if(addr.equals("\/1\/ligth")) { v_light = val; }\r\n else if(addr.equals("\/1\/ir")) { v_ir = val; }\r\n else if(addr.equals("\/1\/buzz")) { v_buzz = val; }\r\n\r\n\/\/data from IPHONE's accelerometer screen "Accelerometro" velue \/2\r\n\/\/only receive data if press the button into this screen\r\nif(addr.equals("\/2\/activate")){ valor = val;}\r\nif(valor==1.0f){\r\n if(theOscMessage.checkAddrPattern("\/accxyz")==true) {\r\n xrot_targ = (theOscMessage.get(0).floatValue()*90)-calx;\r\n zrot_targ = ((theOscMessage.get(1).floatValue()*90)*-1)-calz;\r\n orientation = theOscMessage.get(2).floatValue();\r\n print("x= " + xrot_targ + " z= " + zrot_targ + " Rot= " + orientation +"\\n\\r");\r\n }\r\n}\r\n\/\/calibration button for accelerometer\r\nif(addr.equals("\/1\/info")){calx=xrot_targ;calz=zrot_targ;}\r\n\r\n\/\/debug for accelerometer from IPHONE\r\n\/\/if (addr=="\/accxyz"){}else{print(addr);print(" "+ val);print("\\n\\r");}\r\n\/\/debug for buttons of the IPHONE\r\nprint("val_up" + v_up + " val_down" + v_down + " val_left" + v_left + " val_right" + v_right + "\\n\\r");\r\nprint("val_light" + v_light + " val_ir" + v_ir + " val_buzz" + v_buzz + "\\n\\r");\r\n}\r\n\r\n\/\/paint\r\nvoid draw() {\r\n background(0);\r\n fill(0, 196, 168);\r\n stroke(0, 196, 250);\r\n \/\/up arrow\r\n if(v_up == 1.0f) {triangle(200,100,250,50,300,100);rect(225,100,50,50);}\r\n fill(168);\r\n \/\/down arrow\r\n if(v_down == 1.0f) {triangle(200,150,250,200,300,150);rect(225,100,50,50);}\r\n fill(0,0,255);\r\n \/\/left arrow\r\n if(v_left == 1.0f) {triangle(175,125,225,75,225,175);rect(225,100,50,50);}\r\n fill(255,0,0);\r\n \/\/right arrow\r\n if(v_right == 1.0f) {triangle(275,75,325,125,275,175);rect(225,100,50,50);}\r\n fill(0,168,0);\r\n \/\/buzz indicator\r\n if(v_buzz == 1.0f) {\r\n triangle(250,300,270,345,250,390);\r\n triangle(260,290,300,345,260,400);\r\n rect(225,300,20,5);\r\n rect(225,320,20,5);\r\n rect(225,340,20,5);\r\n rect(225,360,20,5);\r\n rect(225,380,20,5);\r\n }\r\n fill(0,0,255);\r\n stroke(255,0,0);\r\n \/\/ir light indicator\r\n if(v_ir == 1.0f) {\r\n line(110,400,170,350);\r\n line(170,350,160,340);\r\n line(160,340,220,300);\r\n line(220,300,190,340);\r\n line(190,340,200,350);\r\n line(200,350,110,400);\r\n }\r\n fill(0,0,0);\r\n stroke(0,0,255);\r\n \/\/light indicator\r\n if(v_light == 1.0f) {\r\n line(10,400,70,350);\r\n line(70,350,60,340);\r\n line(60,340,120,300);\r\n line(120,300,90,340);\r\n line(90,340,100,350);\r\n line(100,350,10,400);\r\n }\r\n \/\/paint with accelerometers's values\r\n stroke(0);\r\n fill(0);\r\n if(valor==1.0f){\r\n if(xrot_targ>=40) {\r\n v_up=1.0f;\r\n }else{\r\n v_up=0.0f;\r\n };\r\n if(xrot_targ<=-40) {\r\n v_down=1.0f;\r\n }else{\r\n v_down=0.0f;\r\n };\r\n if(zrot_targ<=-20) {\r\n v_left=1.0f;\r\n }else{\r\n v_left=0.0f;\r\n };\r\n if(zrot_targ>=20) {\r\n v_right=1.0f;\r\n }else{\r\n v_right=0.0f;\r\n };\r\n if(zrot_targ<=20 && zrot_targ>=-20) {\r\n v_right=0.0f;\r\n v_left=0.0f;\r\n };\r\n if(xrot_targ<=20 && xrot_targ>=-20) {\r\n v_up=0.0f;\r\n v_down=0.0f;\r\n };\r\n }\r\n \/\/write serial port from the information obtain with TOUCHOSC\r\n if(v_up==1.0f && vl_up==0.0f){port.write("a");delay(100);port.write("a");vl_up=1.0f;}\r\n if(v_up==0.0f && vl_up==1.0f){port.write("z");delay(100);port.write("z");vl_up=0.0f;}\r\n if(v_down==1.0f && vl_down==0.0f){port.write("s");delay(100);port.write("s");vl_down=1.0f;}\r\n if(v_down==0.0f && vl_down==1.0f){port.write("x");delay(100);port.write("x");vl_down=0.0f;}\r\n if(v_left==1.0f && vl_left==0.0f){port.write("f");delay(100);port.write("f");vl_left=1.0f;}\r\n if(v_left==0.0f && vl_left==1.0f){port.write("v");delay(100);port.write("v");vl_left=0.0f;}\r\n if(v_right==1.0f && vl_right==0.0f){port.write("d");delay(100);port.write("d");vl_right=1.0f;}\r\n if(v_right==0.0f && vl_right==1.0f){port.write("c");delay(100);port.write("c");vl_right=0.0f;}\r\n\r\n if(v_light==1.0f && vl_light==0.0f){port.write("l");delay(100);vl_light=1.0f;}\r\n if(v_light==0.0f && vl_light==1.0f){port.write("l");delay(100);vl_light=0.0f;}\r\n if(v_ir==1.0f && vl_ir==0.0f){port.write("i");delay(100);vl_ir=1.0f;}\r\n if(v_ir==0.0f && vl_ir==1.0f){port.write("i");delay(100);vl_ir=0.0f;}\r\n if(v_buzz==1.0f && vl_buzz==0.0f){port.write("b");delay(100);vl_buzz=1.0f;}\r\n if(v_buzz==0.0f && vl_buzz==1.0f){port.write("b");delay(100);vl_buzz=0.0f;}\r\nport.clear();\/\/clear serial port, to clean the buffer.\r\n}\r\n[\/sourcecode]\r\n\r\n <\/span><\/pre>\n <\/span><\/p>\n <\/span><\/p>\n <\/span>He agregado un poco de grafica al interlocutor, en este caso PROCESSING, para indicarnos que es lo que recibe y como lo interpreta, esto es m\u00e1s que nada como debug, no es necesario ni siquiera mirarlo\u2026<\/span><\/em><\/strong><\/p>\n <\/span><\/em><\/strong><\/p>\nEn donde observaremos las flechas de direcci\u00f3n, y el encendido de las luces y el buzzer.<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n<span style=\"font-size: 11.0pt; mso-bidi-font-size: 10.0pt; font-family: &amp;amp; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: &amp;amp; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: &amp;amp; mso-bidi-theme-font: minor-bidi; mso-ansi-language: ES; mso-fareast-language: ES; mso-bidi-language: AR-SA;\"><a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image023.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-413\" title=\"clip_image023\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image023.jpg\" alt=\"\" width=\"279\" height=\"292\" \/><\/a><\/span><\/p>\n\nIdentificando delante y atr\u00e1s.<\/span><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image025.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-417\" title=\"clip_image025\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image025.jpg\" alt=\"\" width=\"190\" height=\"198\" \/><\/a><a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image027.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-418\" title=\"clip_image027\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image027.jpg\" alt=\"\" width=\"192\" height=\"199\" \/><\/a> \n<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\nIzquierda y derecha<\/span><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image031.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-420\" title=\"clip_image031\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image031.jpg\" alt=\"\" width=\"191\" height=\"198\" \/><\/a> \n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image029.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-419\" title=\"clip_image029\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/clip_image029.jpg\" alt=\"\" width=\"191\" height=\"199\" \/><\/a> \n<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span>Bueno, con esto ya tendr\u00edamos control de nuestro veh\u00edculo remoto. Y lo bueno es que no necesitamos estar delante del ordenador para controlarlo, aunque s\u00ed con el tel\u00e9fono dentro del rango del WIFI.<\/span><\/p>\nVideo demostrativo.<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n<a href=\"http:\/\/www.youtube.com\/watch?v=2ja9bCb-puU\">http:\/\/www.youtube.com\/watch?v=2ja9bCb-puU<\/span><\/a><\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\nFUTURO<\/span><\/strong><\/p>\n <\/span>M\u00e1s adelante procederemos a instalarle algunos sensores y una c\u00e1mara wifi, lo cual nos reduce el rango de distancia a una red WIFI tradicional, pero nos otorga una caracter\u00edstica muy particular a nuestro invento.<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n <\/span>Nota: para mantener el rango de distancia de nuestro veh\u00edculo (mayor a 1 kil\u00f3metros), podr\u00edamos colocarle en vez de una c\u00e1mara wifi, un tel\u00e9fono m\u00f3vil con c\u00e1mara y realizando en tiempo real una video conferencia 3g.<\/span><\/p>\n <\/span><\/p>\n <\/span><\/p>\n<span style=\"font-size: 14.0pt; mso-bidi-font-size: 10.0pt; font-family: &amp;amp; mso-ascii-theme-font: minor-latin; mso-fareast-font-family: &amp;amp; mso-fareast-theme-font: minor-fareast; mso-hansi-theme-font: minor-latin; mso-bidi-font-family: &amp;amp; mso-bidi-theme-font: minor-bidi; mso-ansi-language: ES; mso-fareast-language: ES; mso-bidi-language: AR-SA;\"> <\/span><\/strong><\/p>\n <\/span><\/strong><\/p>\nDIAGRAMA COMPLETO DEL CIRCUITO PROPUESTO<\/span><\/strong><\/p>\n\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/circuito.png\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-421\" title=\"circuito\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/circuito.png\" alt=\"\" width=\"409\" height=\"570\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/circuito.png 409w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/circuito-215x300.png 215w\" sizes=\"(max-width: 409px) 100vw, 409px\" \/><\/a><\/span><\/strong><\/p>\n<a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0233.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-428\" title=\"IMGP0233\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0233.jpg\" alt=\"\" width=\"640\" height=\"425\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0233.jpg 640w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0233-300x199.jpg 300w\" sizes=\"(max-width: 640px) 100vw, 640px\" \/><\/a><a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0234.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-429\" title=\"IMGP0234\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0234.jpg\" alt=\"\" width=\"640\" height=\"425\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0234.jpg 640w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0234-300x199.jpg 300w\" sizes=\"(max-width: 640px) 100vw, 640px\" \/><\/a><a href=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0235.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-430\" title=\"IMGP0235\" src=\"http:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0235.jpg\" alt=\"\" width=\"640\" height=\"425\" srcset=\"https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0235.jpg 640w, https:\/\/pinguino.walii.es\/wp-content\/uploads\/2011\/01\/IMGP0235-300x199.jpg 300w\" sizes=\"(max-width: 640px) 100vw, 640px\" \/><\/a> \n<\/span><\/strong><\/p>\n \n<\/span><\/strong><\/p>\n <\/span><\/strong><\/p>\n <\/span><\/strong><\/p>\n <\/span><\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"Este proyecto intenta la reutilizaci\u00f3n de un veh\u00edculo radio controlado, reemplazando toda la electr\u00f3nica con un micro-controlador PINGUINO, y el medio de transmisi\u00f3n, reemplazarlo con…<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[3],"tags":[],"_links":{"self":[{"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=\/wp\/v2\/posts\/397"}],"collection":[{"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=397"}],"version-history":[{"count":10,"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=\/wp\/v2\/posts\/397\/revisions"}],"predecessor-version":[{"id":399,"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=\/wp\/v2\/posts\/397\/revisions\/399"}],"wp:attachment":[{"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=397"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=397"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/pinguino.walii.es\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=397"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}