Toit
#Connecting Ultrasonic sensor to trigger Servo motor
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Deryc Dark 10/06/2022 09:16 AMimport gpio import gpio.pwm main: led := gpio.Pin 5 generator := pwm.Pwm --frequency=400 channel2 := generator.start (gpio.Pin 12) channel3 := generator.start (gpio.Pin 13) channel4 := generator.st... 
import gpio
import i2c
import gpio.pwm
TRIGGER ::= 21
ECHO ::= 22
measure_distance trigger echo:
trigger_start := Time.monotonic_us
trigger.set 1
while Time.monotonic_us < trigger_start + 10:
// Do nothing while waiting for the 10us.
trigger.set 0
while echo.get != 1: null
echo_start := Time.monotonic_us
while echo.get == 1: null
echo_end := Time.monotonic_us
diff := echo_end - echo_start
return diff / 58
main:
trigger := gpio.Pin TRIGGER --output
echo := gpio.Pin ECHO --input
while true:
print "measured $(measure_distance trigger echo)cm"
sleep --ms=50
if measure_distance trigger echo = 20:
print "DOOR OPEN"
else:
print "DOOR LOCKED"
servo := gpio.Pin 14
generator := pwm.Pwm --frequency=50
channel := generator.start servo --duty_factor=0.075
sleep --ms=10
// https://github.com/toitlang/toit/issues/518
// Max angle.
channel.set_duty_factor 0.125
sleep --ms=2000
// Min angle.
channel.set_duty_factor 0.025
sleep --ms=200
import i2c
import gpio.pwm
TRIGGER ::= 21
ECHO ::= 22
measure_distance trigger echo:
trigger_start := Time.monotonic_us
trigger.set 1
while Time.monotonic_us < trigger_start + 10:
// Do nothing while waiting for the 10us.
trigger.set 0
while echo.get != 1: null
echo_start := Time.monotonic_us
while echo.get == 1: null
echo_end := Time.monotonic_us
diff := echo_end - echo_start
return diff / 58
main:
trigger := gpio.Pin TRIGGER --output
echo := gpio.Pin ECHO --input
while true:
print "measured $(measure_distance trigger echo)cm"
sleep --ms=50
if measure_distance trigger echo = 20:
print "DOOR OPEN"
else:
print "DOOR LOCKED"
servo := gpio.Pin 14
generator := pwm.Pwm --frequency=50
channel := generator.start servo --duty_factor=0.075
sleep --ms=10
// https://github.com/toitlang/toit/issues/518
// Max angle.
channel.set_duty_factor 0.125
sleep --ms=2000
// Min angle.
channel.set_duty_factor 0.025
sleep --ms=200
floitsch 10/06/2022 09:17 AM
Please use tripple backticks to make the code look nicer:
text in tripple ` looks like code.floitsch 10/06/2022 09:18 AM 
floitsch 10/06/2022 09:18 AM
You should be able to edit your post.
floitsch 10/06/2022 09:19 AM
Now to making that program work:
- do you read the distance correctly? You have a
If the
- do you read the distance correctly? You have a
printIf the
DOOR OPENDOOR LOCKEDfloitsch 10/06/2022 09:20 AM
You just need to use that information for an angle (== duty factor) of the servo.
floitsch 10/06/2022 09:20 AM
Wait.
I can see that the code won't work.
I can see that the code won't work.
floitsch 10/06/2022 09:21 AM
measure_distance trigger echo = 20floitsch 10/06/2022 09:21 AM
You need to write
(measure_distance trigger echo) == 20Deryc Dark 10/06/2022 09:31 AM
we are also getting an error when we jag monitor, because it says failed due to bad authentication, so it wont even print
Deryc Dark 10/06/2022 09:34 AM
this is the new error we are receiving
floitsch 10/06/2022 09:35 AM
Jaguar seems to work just fine.
floitsch 10/06/2022 09:35 AM
However, the program you are writing still has errors, and can't be compiled yet.
floitsch 10/06/2022 09:36 AM
After the condition (
== 20:Deryc Dark 10/06/2022 09:36 AM
its supposed to an automatic door system
floitsch 10/06/2022 09:36 AM
I understand.
floitsch 10/06/2022 09:39 AM
Try with the following code.
I didn't actually test it, so there might still be bugs in there.
I didn't actually test it, so there might still be bugs in there.
main:
trigger := gpio.Pin TRIGGER --output
echo := gpio.Pin ECHO --input
servo := gpio.Pin 14
generator := pwm.Pwm --frequency=50
channel := generator.start servo --duty_factor=0.075
while true:
distance := measure_distance trigger echo
print "measured $(distance)cm"
if distance <= 200:
print "DOOR OPEN"
channel.set_duty_factor 0.125 // Max angle.
else:
print "DOOR LOCKED"
channel.set_duty_factor 0.025 // Min angle.
// The sleep can be lower (or even be removed), but while
// we are printing, we don't want the loop to run too
// quickly.
sleep --ms=500Deryc Dark 10/06/2022 09:39 AM
now it compiling without errors but it does not seem to trigger the hardware
floitsch 10/06/2022 09:40 AM
Start your main with a
print "starting"floitsch 10/06/2022 09:40 AM
This way you know if the program is arriving correctly.
floitsch 10/06/2022 09:40 AM
Either way: what's the output of the console/monitor?(edited)
Deryc Dark 10/06/2022 09:44 AM
thats the result when i jag monitor
floitsch 10/06/2022 09:45 AM
ok. But what happens now, if you take another terminal and do
jag runjag monitorDeryc Dark 10/06/2022 09:52 AM
when i do that, it prints starting
Deryc Dark 10/06/2022 09:52 AM
and thats all
floitsch 10/06/2022 10:02 AM
So it only prints the first line of your
mainfloitsch 10/06/2022 10:02 AM
where you have
print "starting"Deryc Dark 10/06/2022 10:06 AM
nope actually its reads the whole code but it runs it once and if the distance is not wat we specified it prints door locked yet we want it to loop until it reads the specified distance and then open the door and after it locks it back.
floitsch 10/06/2022 10:06 AM
Can you show me the code you are using now?
Deryc Dark 10/06/2022 10:10 AM
import gpio
import i2c
import gpio.pwm
TRIGGER ::= 21
ECHO ::= 22
measure_distance trigger echo:
trigger_start := Time.monotonic_us
trigger.set 1
while Time.monotonic_us < trigger_start + 10:
// Do nothing while waiting for the 10us.
trigger.set 0
while echo.get != 1: null
echo_start := Time.monotonic_us
while echo.get == 1: null
echo_end := Time.monotonic_us
diff := echo_end - echo_start
return diff / 58
main:
print "starting"
trigger := gpio.Pin TRIGGER --output
echo := gpio.Pin ECHO --input
while true:
print "measured $(measure_distance trigger echo)cm"
sleep --ms=50
if (measure_distance trigger echo) == 200:
print "DOOR OPEN"
else:
print "DOOR LOCKED"
servo := gpio.Pin 14
generator := pwm.Pwm --frequency=50
channel := generator.start servo --duty_factor=0.075
sleep --ms=10
// Max angle.
channel.set_duty_factor 0.125
sleep --ms=2000
// Min angle.
channel.set_duty_factor 0.025
sleep --ms=200
import i2c
import gpio.pwm
TRIGGER ::= 21
ECHO ::= 22
measure_distance trigger echo:
trigger_start := Time.monotonic_us
trigger.set 1
while Time.monotonic_us < trigger_start + 10:
// Do nothing while waiting for the 10us.
trigger.set 0
while echo.get != 1: null
echo_start := Time.monotonic_us
while echo.get == 1: null
echo_end := Time.monotonic_us
diff := echo_end - echo_start
return diff / 58
main:
print "starting"
trigger := gpio.Pin TRIGGER --output
echo := gpio.Pin ECHO --input
while true:
print "measured $(measure_distance trigger echo)cm"
sleep --ms=50
if (measure_distance trigger echo) == 200:
print "DOOR OPEN"
else:
print "DOOR LOCKED"
servo := gpio.Pin 14
generator := pwm.Pwm --frequency=50
channel := generator.start servo --duty_factor=0.075
sleep --ms=10
// Max angle.
channel.set_duty_factor 0.125
sleep --ms=2000
// Min angle.
channel.set_duty_factor 0.025
sleep --ms=200
Deryc Dark 10/06/2022 10:10 AM
and its also not triggering the servo motor
floitsch 10/06/2022 10:10 AM
Please send code in triple quotes.
floitsch 10/06/2022 10:11 AM
you can edit your post to put the code into quotes.
floitsch 10/06/2022 10:11 AM
Otherwise it's hard to see indentation.
Deryc Dark 10/06/2022 10:12 AMimport gpio import gpio.pwm main: led := gpio.Pin 5 generator := pwm.Pwm --frequency=400 channel2 := generator.start (gpio.Pin 12) channel3 := generator.start (gpio.Pin 13) channel4 := generator.st...
"""import gpio
import i2c
import gpio.pwm
TRIGGER ::= 21
ECHO ::= 22
measure_distance trigger echo:
trigger_start := Time.monotonic_us
trigger.set 1
while Time.monotonic_us < trigger_start + 10:
// Do nothing while waiting for the 10us.
trigger.set 0
while echo.get != 1: null
echo_start := Time.monotonic_us
while echo.get == 1: null
echo_end := Time.monotonic_us
diff := echo_end - echo_start
return diff / 58
main:
print "starting"
trigger := gpio.Pin TRIGGER --output
echo := gpio.Pin ECHO --input
while true:
print "measured $(measure_distance trigger echo)cm"
sleep --ms=50
if (measure_distance trigger echo) == 200:
print "DOOR OPEN"
else:
print "DOOR LOCKED"
servo := gpio.Pin 14
generator := pwm.Pwm --frequency=50
channel := generator.start servo --duty_factor=0.075
sleep --ms=10
// https://github.com/toitlang/toit/issues/518
// Max angle.
channel.set_duty_factor 0.125
sleep --ms=2000
// Min angle.
channel.set_duty_factor 0.025
sleep --ms=200"""
import i2c
import gpio.pwm
TRIGGER ::= 21
ECHO ::= 22
measure_distance trigger echo:
trigger_start := Time.monotonic_us
trigger.set 1
while Time.monotonic_us < trigger_start + 10:
// Do nothing while waiting for the 10us.
trigger.set 0
while echo.get != 1: null
echo_start := Time.monotonic_us
while echo.get == 1: null
echo_end := Time.monotonic_us
diff := echo_end - echo_start
return diff / 58
main:
print "starting"
trigger := gpio.Pin TRIGGER --output
echo := gpio.Pin ECHO --input
while true:
print "measured $(measure_distance trigger echo)cm"
sleep --ms=50
if (measure_distance trigger echo) == 200:
print "DOOR OPEN"
else:
print "DOOR LOCKED"
servo := gpio.Pin 14
generator := pwm.Pwm --frequency=50
channel := generator.start servo --duty_factor=0.075
sleep --ms=10
// https://github.com/toitlang/toit/issues/518
// Max angle.
channel.set_duty_factor 0.125
sleep --ms=2000
// Min angle.
channel.set_duty_factor 0.025
sleep --ms=200"""
floitsch 10/06/2022 10:12 AM
You have to use backticks:
I sent a screenshot earlier.(edited)
` (three times)I sent a screenshot earlier.(edited)
floitsch 10/06/2022 10:13 AM
Deryc Dark 10/06/2022 10:19 AM
import gpio
import i2c
import gpio.pwm
TRIGGER ::= 21
ECHO ::= 22
measure_distance trigger echo:
trigger_start := Time.monotonic_us
trigger.set 1
while Time.monotonic_us < trigger_start + 10:
// Do nothing while waiting for the 10us.
trigger.set 0
while echo.get != 1: null
echo_start := Time.monotonic_us
while echo.get == 1: null
echo_end := Time.monotonic_us
diff := echo_end - echo_start
return diff / 58
main:
print "starting"
trigger := gpio.Pin TRIGGER --output
echo := gpio.Pin ECHO --input
while true:
print "measured $(measure_distance trigger echo)cm"
sleep --ms=50
if (measure_distance trigger echo) == 200:
print "DOOR OPEN"
else:
print "DOOR LOCKED"
servo := gpio.Pin 14
generator := pwm.Pwm --frequency=50
channel := generator.start servo --duty_factor=0.075
sleep --ms=10
// https://github.com/toitlang/toit/issues/518
// Max angle.
channel.set_duty_factor 0.125
sleep --ms=2000
// Min angle.
channel.set_duty_factor 0.025
sleep --ms=200Deryc Dark 10/06/2022 10:19 AM
finally
floitsch 10/06/2022 10:20 AM
floitsch 10/06/2022 10:21 AM
That code should run the distance measurement every 50ms and print "DOOR OPEN" or "DOOR LOCKED" continuously.
floitsch 10/06/2022 10:21 AM
depending on whether the distance is more or less than 200cm.
floitsch 10/06/2022 10:21 AM
Is that correct?
floitsch 10/06/2022 10:22 AM
Should also print the measured distance before the "DOOR ..." line.
Deryc Dark 10/06/2022 10:24 AM
yes but we want the servo motor to move when its open and close when its locked
floitsch 10/06/2022 10:24 AM
I understand.
Deryc Dark 10/06/2022 10:24 AM
the code is just measuring and printing
floitsch 10/06/2022 10:24 AM
That's because the rest (servo code) is outside the
while truefloitsch 10/06/2022 10:24 AM
and is thus never reached.
floitsch 10/06/2022 10:25 AM
You need to put the servo code into the while body.
floitsch 10/06/2022 10:25 AM
I sent an example code earlier: https://discord.com/channels/918498540232253480/1027509757403209768/1027515399740346368
Deryc Dark 10/06/2022 10:35 AM
now we want if the distance criteria is not met to open the door, we want the sensor to stay locked but the sensor to keep measuring until an object is with in range to trigger an opening
floitsch 10/06/2022 10:36 AM
it should do that already.
floitsch 10/06/2022 10:36 AM
It's continuously measuring the distance and updating accordingly.
floitsch 10/06/2022 10:37 AM
You could introduce a boolean state, to only set the generator's duty_factor when the state changes, but it doesn't really cost to set the factor to the same value it already is.
floitsch 10/06/2022 10:37 AM
That said: if you keep a boolean variable, you could only print "DOOR OPEN" or "DOOR LOCKED" when the state changes.
floitsch 10/06/2022 10:38 AM
Also: you probably want to avoid to be in a state where the distance is just about 200cm and changes very frequently.
floitsch 10/06/2022 10:39 AM
So you should maybe open the door when something is closer than 190cm, but only close it when you measure something more than 210cm away.
Deryc Dark 10/06/2022 10:42 AM
but the door doesnt close after it opens, we want it to close after 180ms
Deryc Dark 10/06/2022 10:43 AM
how can it get closed when something is 210cm away
floitsch 10/06/2022 10:43 AM
Just to summarize:
floitsch 10/06/2022 10:44 AM
the code is running and continuously printing "DOOR OPEN" or "DOOR LOCKED".
floitsch 10/06/2022 10:44 AM
But the servo is not changing according to the state?
Deryc Dark 10/06/2022 10:46 AM
the code is running perfectly, well the servo opens but does not close back after the object is through
floitsch 10/06/2022 10:46 AM
So when the code prints "DOOR LOCKED" the servo does not move?
Deryc Dark 10/06/2022 10:48 AM
yes
floitsch 10/06/2022 10:48 AM
please show me again the code you are using.
Deryc Dark 10/06/2022 10:49 AM
sorry no, the code prints open but does not close back after that
floitsch 10/06/2022 10:49 AM
What about the distance measurement?
floitsch 10/06/2022 10:50 AM
Do you see the measured distance change?
Deryc Dark 10/06/2022 10:53 AM
yes
Deryc Dark 10/06/2022 10:53 AM
somewhere its now showing brown out detector triggered
floitsch 10/06/2022 10:54 AM
That means that not enough power is provided, or that you have a short-circuit.
floitsch 10/06/2022 10:54 AM
can be a bad USB cable too.
Deryc Dark 10/06/2022 10:54 AM
okay
floitsch 10/06/2022 10:55 AM
So you see the distance that is measured going from above 200cm to below 200cm, but it's still printing "DOOR OPEN" ?
floitsch 10/06/2022 10:55 AM
Another reason for brown-out is if you set the duty-factor to a value that blocks the servo motor.
floitsch 10/06/2022 10:56 AM
The servo can only work in a certain range, and if you use values that are out of that range it will consume too much current.
Deryc Dark 10/06/2022 11:06 AM
its now working well sir
Deryc Dark 10/06/2022 11:06 AM
1
thanks alot
180 messages in total