POSITION DETECTION USING

ULTRASONIC SENSORS

INSTRUMENTATION
&
CONTROL

INSTRUCTOR: OSMAN PARLAKTUNA

26.01.2004

MAHMUT SERKAN ÖZKAN

CELAL METEHAN AYDIN
ALİ ÖZDEMİR

1
INDEX

I. PROJECT DESCRIPTION: 3

II. PROCESS: 3

III.HARDWARE: 5

A. ULTRASONİC SENSORS: 5
B. MICROCONTROLLER, PIC 7
C. MAX 232 8
D. PC 8

IV.SOFTWARE: 9

A. FLOW CHART FOR PIC: 10

B. FLOW CHART FOR PC: 11

V. CONCLUSION: 13

VI.APPENDIX A: URF SRF04 PIC 16F877 CODE 14

VII. APPENDIX B: PROGRAM FOR PC 18

VIII. APPENDIX C: REFERENCES 30

IX.APPENDIX D: COST 31

2
I. PROJECT DESCRIPTION:

Our project is position detection using ultrasonic sensors. Briefly; we try to measure the
distance of an object from an ultrasonic sensor and map its position in a precalculated area. We use
SRF04 ultrasonic sensors for distance measurement and drive this sensor via PIC (Peripheral Interface
Control) 16f877 microcontroller. After getting the necessary data from sensor we make serial
communication between PIC and PC and than mapping in PC using Visual Basic. We will first
describe you the process than hardware that are used in our project and than talk about the software
implementation and finally an evaluation about project.

II. PROCESS:

At the beginning of semester we try to decide which type of hardware to buy. Initially
we want to use Polaroid 6500 ultrasonic module which exist in laboratory. Also one advantage of
Polaroid is we make it work and search on how it works. After that we see that there will be lots of
problems while using Polaroid. First one is its power problem. It requires 2A current which is very
high for electronic applications. Also it has got serious connector problems between transducer-driver
circuit and between control pins -power circuit. Than we search on and try to find another ultrasonic
sensor module. After searching we find SRF04 which is economical in power consumption also
smaller in size and easily controllable. We buy sensors via visa card from internet site www.robot-
electronics.co.uk.

Next stage for us is deciding on what kind of microcontroller we use. You can think of
why we use microcontroller instead of directly connecting SRF04 to PC that contains A/D card. We
use microcontroller because in timing measurements we need 66us sensitivity that can not be provided
high-level languages. We initially think of Intel 8051 microprocessor. Again we search and find that
PIC 16F877 microcontroller is much more suitable for our application.

After we got sensors and our 16F877 we start on working. Initially we test sensors. We
test how they work, and apply signals that are at different frequency. We find at what frequency we
need to trigger sensors. Apart from this we test ECHO signal and find sensitivity approximately.
Our test data is shown below:

3
 Measured Echo Output High
Test Range
Detection Distance Time
1 7.5 cm 500 us
2 15 cm 1000 us
3 30 cm 2000 us
4 60 cm 4000 us
5 100 cm 6600 us

In software part we try to develop algorithms for both triggering sensor via PIC and
reading echo signal with PIC. After making PIC work we try to develop algorithm on PIC-PC serial
communication. And lastly we develop codes for data processing on PC that converts time data to
distance and map position on the screen. The diagram below shows us the general working principle of
our system as schematic.

Trigger

PC PIC SRF04

Serial communication,
Read ECHO pulse width Read ECHO pulse width
in time domain.

In next stages we will describe the hardware and software parts in detailed.

4
III. HARDWARE:

We try to calculate the distance of an object using ultrasonic sensor, microcontroller and
mapping with PC.

A. Ultrasonic Sensors:

The principle of working of an ultrasonic sensor is easy. The sensor transmits ultrasonic sound
waves and waits for reflected sound waves. After receiving reflected sound wave or usually named
echo, sensor detects the distance in different ways. In our project we use SRF04 ultrasonic sensors.

As seen in the figure it seems easy to use SRF04 ultrasonic sensor. Its main advantage is the
number of pins that you have to use is only 4. One for Vdd, one for Vss, one for Trigger and one for
Echo. Also one additional pin is given to adjust the range of the sensor. The other specifications of
SRF04 ultrasonic sensors are

5
 Voltage - 5v only required
Current - 30mA Type. 50mA Max.
Frequency - 40 KHz
Max Range - 3m
Min Range - 3 cm
Sensitivity - Detect 3cm diameter broom handle at > 2 m
Input Trigger - 10uS Min. TTL level pulse
Echo Pulse - Positive TTL level signal, width proportional to range.
Small Size - 43mm x 20mm x 17mm height

The important part for us is the signal conditioning of SRF04. We trigger the sensor and then
wait for echo pulse. Measuring echo pulse width is important for us because 66.4 us means us 1 cm.

As seen from timing diagram of SRF04 after triggering sensor with a TTL logic 1 (we use 5 V)
at least 10 us, sonic burst module embedded in sensor makes 8 cycle sonic burst at 40 kHz. After the
last sonic burst go low our echo signal became high and stay high until any reflected sound received
by the sensor. Our initial objective is to trigger the sensor and than read the echo signal and measure
its pulse width.

6
 B. MICROCONTROLLER, PIC

In this project we initially can not decide which microcontroller we will choose. We think of
Intel 8051 or PIC. After researching on the net we decide to use PIC. PIC as its name implies
(Peripheral Interface Controller) is designed by Microchip firm especially for Peripheral Interface
jobs. Its main advantage is its memory structure. It has got Banks that shows each special register
address (file registers). As PIC produced by RISC (Reduced Instruction Set) architecture we can see
Harvard architecture that means the controller has got separate program memory which makes it faster
than any other controller. One of the most important work is to chose the correct model that will
support our project. For serial communication with PC we need Universal Synchronous Asynchronous
Receiver Transmitter (USART/SCI) property. So we choose 16F877 which has got these properties.

Our PIC has a 8K program memory which enables us write programs without thinking the
capacity. Also we can use 14 external interrupts with this model. Additionally we have 5 ports (a, b, c,
d, e), 3 timers, 2 counters and only 35 instructions to program.
Our connection diagram is shown below:

As shown we will use INIT1, INIT2, INIT3 to trigger the sensors and RC1 to read the ECHO1,
ECHO2, and ECHO measuring the pulse width and make necessary operations we will send the data

7
through MAX232 with TX/CK Pin (25) .

C. Max 232

The MAX232 family of line drivers/receivers is intended for all EIA/TIA-232E and V.28/V.24
communications interfaces, particularly applications where ±12V is not available. This part is
especially useful in battery-powered systems, since their low-power shutdown mode reduces power
dissipation to less than 5µW. The MAX232, use no external components and are recommended for
applications where printed circuit board space is critical.
Superior to Bipolar
_ Operate from Single +5V Power Supply (+5V and +12V—MAX232)
_ Low-Power Receive Mode in Shutdown (MAX232/MAX242)
_ Meet All EIA/TIA-232E and V.28 Specifications

D. PC
We used a PC’s serial port to communicate between PIC and PC. The GUI (WYSIWYG) is :

8
IV. SOFTWARE:

9
 A. Flow Chart for PIC:

At the beginning of the program we initialize the PIC’s ports and registers, and USART
configuration. Then PIC sends 150 ms trigger to the first SRF04 and listens the echo signal , after
that SRF04 measures the distance and sends it to PIC. Furthermore PIC starts to measure the pulse

10
width of the received echo signal and transmits the pulse width to the PC. This routine repeated 2
times more.

B. Flow Chart for PC:

At the loading, the program search for available ports and displays them on the Com Port
frame. After that the user press the measure button, program starts a loop receives 16-bit serial data
(Mscomm32.ocx supports 8-bit but we implement a code to overcome this problem) and starts to
calculate. We observed calculated distance has a linear error so that we overcame this problem using
curve fitting. In Matlab we entered the data and using curve fitting tool to obtain the transfer function
which has minimum error. Furthermore using the Windows GUI’s (gdi32) we display the measured
object on the screen. Loop stops with the Stop button.

11
12
V. CONCLUSION:

During this project we learned that ;

How bats measures the distance of an obstacle ?
How sonar sensor works ?
How Srf04 module works ?
How can we interface the Srf04 with PIC 16f877 Microcontroller ?
How to communicate between Srf04 and PC ?

Finally we implement our system on breadboard and see on the PC the position of an obstacle.
In fact, up to this point we suffer a lot. First problem we face is testing the sensors it takes much more
time than we think. Also code development process for PIC is another problem for us. This problem is
sourced by the necessity software development tools (PIC Programmer) that does not exist. At first we
download our code to PIC than after it is a problem to make changes on code. So we made up a PIC
16F877 programmer which is not working. Than we have to buy a programmer. Also we have got
problems on serial communication because of the regulating necessary baud rate.

In this project we gain lots of experience about project development process. Below you see
our system’s final schematic:

13
VI. APPENDIX A: URF SRF04 PIC 16F877 CODE

;************************************************************
;
; This is a program to run the PIC 16F877 to drive
; the SRF04. Port B will be used for the SRF04 module
; drive, and the CCP1 pin for echo signals.
; Below is the pin out
;
; PORTB...
; 0=INIT 1
; 1=N/A
; 2=INIT 2
; 3=N/A
; 4=INIT 3
; 5=N/A
; 6=N/A
; 7=N/A
;
; CCP1=ECHO 1 , ECHO 2 , ECHO3 respectively.
;
;***********************************************************

list P=PIC16F877, F=INHX8M, C=160, N=77, ST=OFF, MM=OFF, R=DEC, X=OFF

#include P16F877.inc
; this is the standard header file for 16f877
list
list
__config(_CP_OFF & _PWRTE_ON & _XT_OSC & _WDT_OFF & _BODEN_OFF)

;********************** EQUATES ****************************

Bank0Ram equ H'20'

MaxCount equ 50
;***********************************************************

;******************** VARIABLES ***************************

cblock Bank0Ram
MACRO_TEMP
TEMP
TEMP2
TIME1 ; this is the low byte for the Measured Signal
TIME2 ; this is the high byte for the Measured Signal
endc
;***********************************************************

;****************** MACRO DEFINITIONS *******************

MOVLF macro literal,dest
movlw literal
movwf dest
endm

MOVFF macro source,dest

movf source,W
movwf dest
endm

DELAY macro time

local Again

14
 movlw time
movwf MACRO_TEMP
Again
decfsz MACRO_TEMP
goto Again
endm
;********************************************************

;******************* VECTOR **************************

org H'000' ;reset vectors

goto MainLine ;Branch past tables

;*********************************************************

;******************* END OF TABLE *********************

;******************** MAIN ROUTINE **********************

MainLine
call Initial ;initialize everything
MainLoop
call FIRE_1 ;fire module 1
MOVFF TMR1L,TIME1 ;save the low time
MOVFF TMR1H,TIME2 ;save the high time
call TRANSMIT ;transmit the data in Nibble1 - Nibble3
call LoopTime ;wait for 10ms
call FIRE_2 ;fire module 2
MOVFF TMR1L,TIME1 ;save the low time
MOVFF TMR1H,TIME2 ;save the high time
call TRANSMIT ;transmit the data in TIME1 and TIME2
call LoopTime ;wait for 10ms
call FIRE_3 ;fire module 3
MOVFF TMR1L,TIME1 ;save the low time
MOVFF TMR1H,TIME2 ;save the high time
call LoopTime
call TRANSMIT ;transmit the data in TIME1 and TIME2
goto MainLoop
;***********************************************************

;*********************** INITIAL SUB ***********************

;
; this will initialize all of the ports and etc.

Initial
bsf STATUS,RP0 ;set to Bank 1
MOVLF B'00000111',ADCON1 ;setting all AD pins to digital I/O
MOVLF 160,TEMP2 ;setting LoopTime time
clrf TRISA ;setting all port a to output
clrf TRISB ;setting PORTB as out
MOVLF B'00000100',TRISC ;all port c output, CCP1 in
MOVLF B'11110000',TRISD ;all input for port d
clrf TRISE ;all output for port e
movlw 0x19 ; 0x0C=19200 baud (0x19=9600 baud)
movwf SPBRG
movlw b'00100100' ; brgh = high (2)
movwf TXSTA ; enable Async Transmission, set brgh
movlw b'10010000' ; enable Async Reception
bcf STATUS,RP0 ; RAM Page 0
movwf RCSTA

15
 clrf PORTA
clrf PORTB
clrf PORTC
clrf PORTD
clrf PORTE
MOVLF B'10000000',RCSTA ;enable the serial port
return
;************************************************************

;****************** FIRE 1 SUBROUTINE **********************

; This is used to set up and fire SRF04 1
;********************* ------------------- *************************

FIRE_1
clrf TMR1H ;clear the timer 1 low byte
clrf TMR1L ;clear the timer 1 low byte
clrf PORTB ;ready PORTB
bsf PORTB,0 ;set INIT 1
call T20 ;delay for 20 us
bcf PORTB,0 ;trigger low
bcf PIR1,2 ;make sure CCP1 is clear
ECHO1_LOOKING
btfsc PORTC,2 ;testing CCP1
goto ECHO1_LOOKING ; If not keep looking
TIMER
incf TMR1L ;Increment the Low byte
btfsc STATUS, Z ;Do we have Zero (Multiple of 256)?
incf TMR1H ;Increment High byte (if necessary)
btfsc PORTC,2 ;testing CCP1
goto TIMER ;make sure CCP1 is clear
return

;************************************************************

;****************** FIRE 2 SUBROUTINE **********************

; This is used to set up and fire SRF04 2
;********************* ------------------- **************************

FIRE_2
clrf TMR1L ;clear the timer 1 low byte
clrf PORTB ;ready PORTB
bsf PORTB,2 ;set INIT 1
call T20 ;delay for 20 us
bcf PORTB,2 ;trigger low
bcf PIR1,2 ;make sure CCP1 is clear
ECHO2_LOOKING
btfsc PORTC,2 ;testing CCP1
goto ECHO2_LOOKING
TIMER2
incf TMR1L ;Increment the Low byte
btfsc STATUS, Z ;Do we have Zero (Multiple of 256)?
incf TMR1H ;Increment High byte (if necessary)
btfsc PORTC,2
goto TIMER2
return
;***********************************************************

;****************** FIRE 3 SUBROUTINE **********************

; this is used to set up and fire SRF04 3

16
;********************* ------------------- **************************

FIRE_3
clrf TMR1L ;clear the timer 1 low byte
clrf PORTB ;ready PORTB
bsf PORTB,4 ;set INIT 1
call T20 ;delay for 20 us
bcf PORTB,4 ;trigger low
bcf PIR1,2 ;make sure CCP1 is clear
ECHO3_LOOKING
btfsc PORTC,2 ;testing CCP1
goto TIMER3
goto ECHO3_LOOKING
TIMER3
incf TMR1L ;Increment the Low byte
btfsc STATUS, Z ;Do we have Zero (Multiple of 256)?
incf TMR1H ;Increment High byte (if necessary)
btfsc PORTC,2
goto TIMER3
return
;***********************************************************

;***************** TRANSMIT SUBROUTINE *********************

;
; This is used to send the data that is stored in
; TIME1 (low byte) and TIME2 (high byte) out the
; serial port.
;***********************************************************

TRANSMIT
movf TMR1H,0
btfsc STATUS,2
movlw b’11111111’
movwf TXREG
call TransWt ; wait until finished sending
movf TMR1L,0
movwf TXREG
call TransWt
return

;**************** LoopTime SUBROUTINE **********************

; This subroutine counts 10 mS
;***********************************************************

LoopTime
decfsz TEMP2,F
call T20
return
;***********************************************************

;************* *** T20 SUBROUTINE **************************

; This will use up 10 us of time to ignore the
; noise on the echo line from the fireing.
;************************************************************

T20
MOVLF 20,TEMP ;a counter
HERE
decfsz TEMP,F ;dec the counter
goto HERE

17
 return

;********** WAIT UNTIL RS232 IS FINISHED SENDING ***********

TransWt bsf STATUS,RP0 ; RAM Page 1

WtHere btfss TXSTA,TRMT ; (1) transmission is complete if hi
goto WtHere
bcf STATUS,RP0 ; RAM Page 0
return

;***********************************************************

;****************** END of ALL PROGRAMS ********************

end

VII. APPENDIX B: PROGRAM FOR PC

FRMMAIN.frm

Private Sub btnRead_Click()

Dim bytInput() As Byte
Dim bytElemani As Byte
Dim iX As Long
Dim iY As Long
Dim iL As Long
Dim iP As Long
Dim SeriSonuc As String
Dim sHistory As String
Dim SeriVeri As String
Dim Comment As String
If comSerial.PortOpen = False Then
comSerial.PortOpen = True
End If
measure:
Select Case comSerial.InBufferCount
Case 0: MsgBox ("No data found")
GoTo measure
Case Is > 0:
Say = comSerial.InBufferCount
bytInput = comSerial.Input
iX = UBound(bytInput(), 1)
For iY = 0 To 1
If SeriSonuc <> "" Then
If iY Mod 4 Then
SeriSonuc = "" & SeriSonuc
Else
SeriSonuc = vbCrLf & SeriSonuc
End If
End If
bytElemani = bytInput(iY)
SeriVeri = Chr$(bytElemani)
For iL = 1 To 8
SeriSonuc = Abs(CInt(BitOn(CLng(bytElemani), iL))) & SeriSonuc
Next
Next
'If BinaryToDecimal(SeriSonuc) * 6 > 4000 Then

18
 'txtsrf042.Text = "Cisim Bulunamadı"
'Else
txtrec1.Text = SeriSonuc
txtmea1.Text = ((BinaryToDecimal(SeriSonuc) * 6) / (166 / 2.54)) & "
cm"
txtypos.Text = BinaryToDecimal(SeriSonuc) / 40 + 6
'End If
If txtmea1.DataChanged = True Then

Comment = Now & " Received data ...: " & txtmea1.Text
Close iFileNum
SetLog (Comment)
End If
GoTo measure
End Select
End Sub

Private Sub btnview_Click()

frmObjDist.Show
End Sub

Private Sub clrlog_Click()

On Error GoTo ErrorTrp
del.DeleteFile ("data.txt")
Exit Sub
ErrorTrp:
MsgBox ("History already cleared !!!")
End Sub

Private Sub Form_Initialize()

BaudRate(0) = "110"
BaudRate(1) = "300"
BaudRate(2) = "600"
BaudRate(3) = "1200"
BaudRate(4) = "2400"
BaudRate(5) = "9600"
BaudRate(6) = "14400"
BaudRate(7) = "19200"
BaudRate(8) = "28800"
BaudRate(9) = "38400"
BaudRate(10) = "56000"
BaudRate(11) = "128000"
BaudRate(12) = "256000"
End Sub

Private Sub cmbBaudRate_Click()

sBaudData = ""
cmdUpdateBaud.Enabled = True
End Sub
Private Sub cmbBaudRate_KeyPress(KeyAscii As Integer)
Select Case KeyAscii
Case 48, 49, 50, 51, 52, 53, 54, 55, 56, 57
sBaudData = sBaudData & Chr$(KeyAscii)
Case 13
sBaudData = ""
UpdateBaud
Case 127
sBaudData = ""
Case 8
If sBaudData <> "" Then
sBaudData = Left$(sBaudData, (Len(sBaudData) - 1))
End If

19
 Case Else
sBaudData = ""
End Select
End Sub
Private Sub cmbBaudRate_Change()
Dim iX As Long
Dim iL As Long
Dim sCurrent As String

If bLoaded Then
cmdUpdateBaud.Enabled = True
sCurrent = sBaudData
iL = Len(sCurrent)
For iX = 0 To 12
If sCurrent = Left$(BaudRate(iX), iL) Then
cmbBaudRate.Text = BaudRate(iX)
cmbBaudRate.SelLength = Len(cmbBaudRate.Text)
Exit Sub
End If
Next
End If
End Sub
Private Sub cmdUpdateBaud_Click()
UpdateBaud
End Sub

Function BitOn(Number As Long, Bit As Long) As Boolean

Dim iX As Long
Dim iY As Long

iY = 1
For iX = 1 To Bit - 1
iY = iY * 2
Next
If Number And iY Then BitOn = True Else BitOn = False
End Function

Private Sub VerifyPorts()

Dim sPort As String
Dim iX As Long
Dim iY As Long
Dim lngType As Long
Dim lngValue As Long
Dim sName As String
Dim sSwap As String
ReDim varResult(0 To 1, 0 To 100) As Variant
Const lNameLen As Long = 260
Const lDataLen As Long = 4096

sSubKey = "Hardware\Devicemap\SerialComm"
If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_READ, hnd) Then Exit Sub
For iX = 0 To 999999
If iX > UBound(varResult, 2) Then
ReDim Preserve varResult(0 To 1, iX + 99)
End If
sName = Space$(lNameLen)
ReDim binValue(0 To lDataLen - 1) As Byte
If RegEnumValue(hnd, iX, sName, lNameLen, ByVal 0&, lngType,
binValue(0), lDataLen) Then Exit For
varResult(0, iX) = Left$(sName, lNameLen)

Select Case lngType

20
 Case REG_DWORD
CopyMemory lngValue, binValue(0), 4
varResult(1, iX) = lngValue
Case REG_SZ
varResult(1, iX) = Left$(StrConv(binValue(),
vbUnicode), lDataLen - 1)
Case Else
ReDim Preserve binValue(0 To lDataLen - 1) As Byte
varResult(1, iX) = binValue()
End Select
Next
If hnd Then RegCloseKey hnd
ReDim Preserve varResult(0 To 1, iX - 1) As Variant
ReDim Ports(iX - 1)
For iX = 0 To UBound(varResult, 2)
sPort = Mid$(varResult(1, iX), 4, 1)
Ports(iX) = sPort
Next

iY = UBound(Ports)
For iX = 0 To (iY - 1)
If Ports(iX + 1) < Ports(iX) Then
sSwap = Ports(iX + 1)
Ports(iX + 1) = Ports(iX)
Ports(iX) = sSwap
iX = -1
End If
Next

End Sub
Private Sub UpdateBaud()
Attribute UpdateBaud.VB_Description = "Changes the baud rate of the serial port"
Dim sNewBaud As String
Dim sOldBaud As String
Dim sTmp As String
Dim iX As Long

On Error GoTo ErrTrap

sNewBaud = cmbBaudRate.Text
For iX = 0 To 12
If BaudRate(iX) = sNewBaud Then
Exit For
Else
If iX = 12 Then
MsgBox "Invalid Baud Rate, Please Try Again !", vbInformation,
"Data Entry Error !"
sBaudData = ""
cmbBaudRate.Text = ""
cmdUpdateBaud.Enabled = False
Exit Sub
End If
End If
Next
sTmp = comSerial.Settings
sOldBaud = Left$(sTmp, (InStr(1, sTmp, ",", vbBinaryCompare) - 1))
sTmp = Replace(sTmp, sOldBaud, sNewBaud, , , vbBinaryCompare)
comSerial.Settings = sTmp
cmdUpdateBaud.Enabled = False
sBaudData = ""
UpdateSettings
Exit Sub

21
ErrTrap:
MsgBox Err.Number & " " & Err.Description & vbCr & " Error Generated By "
& Err.Source, vbCritical, _
"System Error Trap !"
End Sub

Private Sub cmdExit_Click()

Unload Me
Set frmMain = Nothing
End Sub
Private Sub cmdRead_Click()
Dim bytInput() As Byte
Dim bytElement As Byte
Dim iX As Long
Dim iY As Long
Dim iL As Long
Dim iP As Long
Dim sResult As String
Dim sHistory As String
Dim sData As String
Dim sSpace As String

On Error GoTo ErrTrap

If comSerial.PortOpen = False Then

comSerial.PortOpen = True
End If

bytInput = comSerial.Input
iX = UBound(bytInput(), 1)
For iY = 0 To iX
If sResult <> "" Then
If iY Mod 4 Then
sResult = " " & sResult
Else
sResult = vbCrLf & sResult
End If
End If
bytElement = bytInput(iY)
sData = Chr$(bytElement)
For iL = 1 To 8
Select Case iL
Case 4
sSpace = " , "
Case Else
sSpace = ""
End Select
sResult = sSpace & Abs(CInt(BitOn(CLng(bytElement), iL))) &
sResult
Next
If sResult <> "" Then
If Asc(sData) = 0 Then
sData = "~"
End If
sResult = "(" & sData & ")> " & sResult
End If
Next
txtRead.Text = sResult & vbCrLf
cmdRead.Enabled = False
lstHistory.AddItem ("Read " & sDataBits & " Bits" & " As " & sMode)
Do While Len(sResult)

22
 iP = InStrRev(sResult, "(", , vbBinaryCompare)
sHistory = Replace(Trim(Mid$(sResult, iP)), vbCrLf, "", , ,
vbBinaryCompare)
sResult = Left(sResult, (iP - 1))
lstHistory.AddItem (sHistory & " :ASCII " & CStr(Asc(Mid$(sHistory, 2,
1))))
Loop
txtSend.SetFocus
txtSend.SelStart = 0
txtSend.SelLength = Len(txtSend.Text)
cmdClearHistory.Enabled = True
Exit Sub

ErrTrap:
MsgBox Err.Number & " " & Err.Description & vbCr & " Error Generated By "
& Err.Source, vbCritical, _
"System Error Trap !"
End Sub

Private Sub cmdSend_Click()

On Error GoTo ErrTrap

If comSerial.PortOpen = False Then

comSerial.PortOpen = True
End If
comSerial.Output = txtSend.Text
cmdRead.Enabled = True
lstHistory.AddItem ("Send " & sDataBits & " Bits" & " As " & sMode)
lstHistory.AddItem txtSend.Text
Exit Sub

ErrTrap:
MsgBox Err.Number & " " & Err.Description & vbCr & " Error Generated By "
& Err.Source, vbCritical, _
"System Error Trap !"
End Sub
Private Sub Form_Load()
Dim iX As Long
Dim iY As Long
Dim sTmp As String
Dim sPort As String
Dim sSelectedPort As String
Dim bFlag As Boolean
Dim opt As OptionButton
VerifyPorts
VerifySettings
sSettings = comSerial.Settings
sSelectedPort = comSerial.CommPort
Select Case comSerial.InputMode
Case comInputModeBinary
optBinary.Value = True
sMode = "Binary"
Case comInputModeText
optString.Value = True
sMode = "String"
End Select
For iX = 0 To UBound(BaudRate())
cmbBaudRate.AddItem BaudRate(iX)
Next
sTmp = Left$(sSettings, (InStr(1, sSettings, ",", vbBinaryCompare) - 1))
sDataBits = Left$(Right$(sSettings, 3), 1)
optDataBits(CInt(sDataBits)).Value = True

23
 cmbBaudRate.Text = sTmp

iY = UBound(Ports)
For iX = 0 To iY
sPort = Ports(iX)
optPort(iX).Visible = True
optPort(iX).Caption = sPort
If sPort = sSelectedPort Then
bFlag = True
optPort(iX).Value = True
End If
Next
If Not bFlag Then
comSerial.CommPort = CInt(optPort(0).Caption)
optPort(0).Value = True
End If
bLoaded = True

End Sub

Private Sub optBinary_Click()

If bLoaded Then
comSerial.InputMode = comInputModeBinary
sMode = "Binary"
End If
End Sub
Private Sub optDataBits_Click(Index As Integer)
Dim sTmp As String

On Error GoTo ErrTrap

If bLoaded Then
sTmp = comSerial.Settings
Mid(sTmp, (Len(sTmp) - 2), 1) = CStr(Index)
sDataBits = CStr(Index)
comSerial.Settings = sTmp
UpdateSettings
End If
Exit Sub

ErrTrap:
MsgBox Err.Number & " " & Err.Description & vbCr & " Error Generated By "
& Err.Source, vbCritical, _
"System Error Trap !"
End Sub
Private Sub optPort_Click(Index As Integer)
If bLoaded Then
comSerial.CommPort = CInt(optPort(Index).Caption)
UpdateSettings
End If
End Sub
Private Sub optString_Click()
If bLoaded Then
comSerial.InputMode = comInputModeText
sMode = "String"
End If
End Sub

Private Sub txtSend_Change()

24
 If txtSend.Text <> "" Then
cmdSend.Enabled = True
Else
cmdSend.Enabled = False
End If
End Sub
Private Sub cmdClearHistory_Click()
lstHistory.Clear
cmdClearHistory.Enabled = False
End Sub
Private Sub txtSend_GotFocus()
txtSend.SelStart = 0
txtSend.SelLength = Len(txtSend.Text)
End Sub
Private Sub VerifySettings()
Attribute VerifySettings.VB_Description = "Checks the registry for the last com
port settings"
Dim disposition As Long
Dim sTmp As String

On Error GoTo ErrTrap

sSettings = comSerial.Settings
sPortNum = comSerial.CommPort
sSubKey = "Software\Damage Inc\Com Settings"
If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_READ, hnd) Then
If RegCreateKeyEx(lMainKey, sSubKey, 0, 0, 0, 0, 0, hnd, disposition)
Then
Err.Raise 1001, "VerifySettings() Sub", "Could Not Create Registry
Key"
End If
End If

sKeyValue = Space$(lLength)
If RegQueryValueEx(hnd, sSettingsKey, 0, REG_SZ, ByVal sKeyValue, lLength)
Then
If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_WRITE, hnd) Then
Err.Raise 1001, "VerifySettings() Sub", "Could Not Open Registry
Key"
Else
If RegSetValueEx(hnd, sSettingsKey, 0, REG_SZ, ByVal sSettings,
Len(sSettings)) Then
Err.Raise 1001, "VerifySettings() Sub", "Could Not Set
Registry Key Settings Value"
End If
End If
Else
comSerial.Settings = sKeyValue
End If

sKeyValue = Space$(lLength)
If RegQueryValueEx(hnd, sPortKey, 0, REG_SZ, ByVal sKeyValue, lLength)
Then
If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_WRITE, hnd) Then
Err.Raise 1001, "VerifySettings() Sub", "Could Not Open Registry
Key"
Else

25
 If RegSetValueEx(hnd, sPortKey, 0, REG_SZ, ByVal sPortNum,
Len(sPortNum)) Then
Err.Raise 1001, "VerifySettings() Sub", "Could Not Set
Registry Key Port Value"
End If
End If
Else
comSerial.CommPort = sKeyValue
End If

RegCloseKey hnd
Exit Sub

ErrTrap:
MsgBox Err.Number & " " & Err.Description & vbCr & " Error Generated By "
& Err.Source, vbCritical, _
"System Error Trap !"
End Sub

Private Sub UpdateSettings()

Attribute UpdateSettings.VB_Description = "Updates the registry entry to the
current com port settings"

On Error GoTo ErrTrap

sSettings = comSerial.Settings
sPortNum = comSerial.CommPort
sSubKey = "Software\Damage Inc\Com Settings"

If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_WRITE, hnd) Then

Err.Raise 1001, "VerifySettings() Sub", "Could Not Open Registry
Key"
Else
If RegSetValueEx(hnd, sSettingsKey, 0, REG_SZ, ByVal sSettings,
Len(sSettings)) Then
Err.Raise 1001, "VerifySettings() Sub", "Could Not Set
Registry Key Settings Value"
End If
End If

If RegOpenKeyEx(lMainKey, sSubKey, 0, KEY_WRITE, hnd) Then

Err.Raise 1001, "VerifySettings() Sub", "Could Not Open Registry
Key"
Else
If RegSetValueEx(hnd, sPortKey, 0, REG_SZ, ByVal sPortNum,
Len(sPortNum)) Then
Err.Raise 1001, "VerifySettings() Sub", "Could Not Set
Registry Key Port Value"
End If
End If

Exit Sub

ErrTrap:
MsgBox Err.Number & " " & Err.Description & vbCr & " Error Generated By "
& Err.Source, vbCritical, _
"System Error Trap !"
End Sub

Public Function BinaryToDecimal(Binary As String) As Long

Dim n As Long
Dim s As Integer

26
For s = 1 To Len(Binary)
n = n + (Mid(Binary, Len(Binary) - s + 1, 1) * (2 ^ (s - 1)))
Next s

BinaryToDecimal = n
End Function
Sub Pause(seconds As Integer)
Const SECS_INDAY = 24! * 60 * 60 ' Seconds per day
Dim start As Single
start = Timer
Do: Loop Until (Timer + SECS_INDAY - start) Mod SECS_INDAY >= seconds
End Sub

Module1.bas ‘For logging and mapping

Attribute VB_Name = "Module1"

'These are the API functions that makes it all possible (to use BitBlt and other
functions)

Public Declare Function BitBlt Lib "gdi32" (ByVal hDestDC As Long, ByVal X As
Long, ByVal Y As Long, ByVal nWidth As Long, ByVal nHeight As Long, ByVal hSrcDC
As Long, ByVal xSrc As Long, ByVal ySrc As Long, ByVal dwRop As Long) As Long
Public Const SRCAND = &H8800C6
Public Const SRCCOPY = &HCC0020
Public Const SRCERASE = &H4400328
Public Const SRCINVERT = &H660046
Public Const SRCPAINT = &HEE0086

Public Declare Sub Sleep Lib "kernel32" (ByVal dwMilliseconds As Long)

Sub SetLog(Message As String)

Dim theFile As String, theMessage As String
theFile = App.Path & "\data.txt"
theMessage = Message & vbCrLf
Open theFile For Append As #1
Print #1, theMessage
Close #1
End Sub

Sub KillLog()
On Error Resume Next
Kill App.Path & "\data.txt"
On Error GoTo 0
End Sub

RegistryAPIs.bas ‘Look for available serial ports.

Attribute VB_Name = "RegistryAPIs"

Option Explicit

'-----------------------------------------------------------------------------------------------------------------------
Public Const SYNCHRONIZE = &H100000

27
Public Const READ_CONTROL = &H20000
Public Const STANDARD_RIGHTS_READ = (READ_CONTROL)
Public Const STANDARD_RIGHTS_WRITE = (READ_CONTROL)
Public Const STANDARD_RIGHTS_ALL = &H1F0000
'-----------------------------------------------------------------------------------------------------------------------
Public Const KEY_QUERY_VALUE = &H1
Public Const KEY_ENUMERATE_SUB_KEYS = &H8
Public Const KEY_NOTIFY = &H10
Public Const KEY_SET_VALUE = &H2
Public Const KEY_CREATE_SUB_KEY = &H4
Public Const KEY_READ = ((READ_CONTROL Or KEY_QUERY_VALUE Or
KEY_ENUMERATE_SUB_KEYS Or KEY_NOTIFY) And (Not SYNCHRONIZE))
Public Const KEY_WRITE = ((STANDARD_RIGHTS_WRITE Or KEY_SET_VALUE Or
KEY_CREATE_SUB_KEY) And (Not SYNCHRONIZE))
'-----------------------------------------------------------------------------------------------------------------------
Public Const ERROR_SUCCESS = 0&
'-----------------------------------------------------------------------------------------------------------------------
Public Const REG_SZ = 1
Public Const REG_BINARY = 3
Public Const REG_DWORD = 4
'-----------------------------------------------------------------------------------------------------------------------
Public Const HKEY_CLASSES_ROOT = &H80000000
Public Const HKEY_CURRENT_USER = &H80000001
Public Const HKEY_LOCAL_MACHINE = &H80000002
Public Const HKEY_USERS = &H80000003
Public Const HKEY_PERFORMANCE_DATA = &H80000004
Public Const HKEY_CURRENT_CONFIG = &H80000005
Public Const HKEY_DYN_DATA = &H80000006
'-----------------------------------------------------------------------------------------------------------------------
Public Const REG_CREATED_NEW_KEY = &H1
Public Const REG_OPENED_EXISTING_KEY = &H2

Public Declare Sub Sleep Lib "kernel32" (ByVal dwMilliseconds As Long)

'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function SleepEx Lib "kernel32" (ByVal dwMilliseconds As Long, ByVal bAlertable
As Long) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegOpenKeyEx Lib "advapi32.dll" Alias "RegOpenKeyExA" (ByVal hKey
As Long, ByVal lpSubKey As _
String, ByVal ulOptions As Long, ByVal samDesired As Long, phkResult As Long) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegCloseKey Lib "advapi32.dll" (ByVal hKey As Long) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegQueryValueEx Lib "advapi32.dll" Alias "RegQueryValueExA" (ByVal
hKey As Long, ByVal _
lpValueName As String, ByVal lpReserved As Long, lpType As Long, lpData As Any, lpcbData As
Long) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegCreateKeyEx Lib "advapi32.dll" Alias "RegCreateKeyExA" (ByVal
hKey As Long, ByVal lpSubKey _

28
 As String, ByVal Reserved As Long, ByVal lpClass As Long, ByVal dwOptions As Long, ByVal
samDesired As Long, ByVal _
lpSecurityAttributes As Long, phkResult As Long, lpdwDisposition As Long) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegDeleteKey Lib "advapi32.dll" Alias "RegDeleteKeyA" (ByVal hKey As
Long, ByVal lpSubKey As _
String) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegSetValueEx Lib "advapi32.dll" Alias "RegSetValueExA" (ByVal hKey
As Long, ByVal _
lpValueName As String, ByVal Reserved As Long, ByVal dwType As Long, lpData As Any,
ByVal cbData As Long) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegEnumKey Lib "advapi32.dll" Alias "RegEnumKeyA" (ByVal hKey As
Long, ByVal dwIndex As Long, _
ByVal lpName As String, ByVal cbName As Long) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegDeleteValue Lib "advapi32.dll" Alias "RegDeleteValueA" (ByVal hKey
As Long, ByVal _
lpValueName As String) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Function RegEnumValue Lib "advapi32.dll" Alias "RegEnumValueA" (ByVal hKey
As Long, ByVal dwIndex As _
Long, ByVal lpValueName As String, lpcbValueName As Long, ByVal lpReserved As Long,
lpType As Long, lpData As Any, _
lpcbData As Long) As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Sub CopyMemory Lib "kernel32" Alias "RtlMoveMemory" (dest As Any, Source As
Any, ByVal numBytes As Long)
'-----------------------------------------------------------------------------------------------------------------------
Declare Function FormatMessage Lib "kernel32" Alias "FormatMessageA" (ByVal dwFlags As Long,
lpSource As Any, ByVal _
dwMessageId As Long, ByVal dwLanguageId As Long, ByVal lpBuffer As String, ByVal nSize As
Long, Arguments As Long) _
As Long
'-----------------------------------------------------------------------------------------------------------------------
Public Declare Sub keybd_event Lib "user32" (ByVal bVk As Byte, ByVal bScan As Byte, ByVal
dwFlags As Long, _
ByVal dwExtraInfo As Long)

Public Const VK_CONTROL = &H11

Public Const VK_C = &H43
Public Const VK_V = &H56
Public Const KEYEVENTF_KEYUP = &H2
'-----------------------------------------------------------------------------------------------------------------------
Type OSVERSIONINFO
dwOSVersionInfoSize As Long
dwMajorVersion As Long
dwMinorVersion As Long
dwBuildNumber As Long
dwPlatformId As Long

29
 szCSDVersion As String * 128
End Type
'-----------------------------------------------------------------------------------------------------------------------
Public Const VER_PLATFORM_WIN32_NT = 2
Public Const VER_PLATFORM_WIN32_WINDOWS = 1
Public Const VER_PLATFORM_WIN32s = 0
Public Declare Function GetVersionEx Lib "kernel32" Alias "GetVersionExA" (lpVersionInformation
As OSVERSIONINFO) As _
Long
'----------------------------------------------------------------------------------------------------------------

VIII. APPENDIX C: REFERENCES

About Ultrasonic Sensors:

1. www.robot-electronics.co.uk
2. www.acroname.com/robotics/parts/R93-SRF04.html
3. http://www.uoxray.uoregon.edu/polamod/
4. http://www.pioneernet.net/johnc/als5ears.htm
5. http://www.tntech.edu/me/courses/Canfield/me4370/6500.htm
6. http://www.engr.udayton.edu/faculty/jloomis/ece445/topics/sonar/faq.html
7. https://www.zagrosrobotics.com/sonar.htm
8. http://www.robofolio.com/folio/sonar/
9. http://www.arches.uga.edu/~dass/srf04.html
10. http://www.kronosrobotics.com/an149/DAN149.htm
11. http://www.rentron.com/remote_control/SRF04.htm
12. http://www.junun.org/MarkIII/Info.jsp?item=23

About PIC Microcontroller:

1. www.microchip.com
2. http://controls.ae.gatech.edu/gtar/electronics/
3. http://www.mstracey.btinternet.co.uk/pictutorial/
4. http://www.ic-prog.com/
5. http://www.embedded.com/1999/9904/9904feat2.htm
6. http://www.picallw.com/

About Serial Communication:

1. http://ohm.bu.edu/edf/info/serial_pinout.html
2. http://www.lookrs232.com/rs232/history_rs232.htm
3. http://vacuumfeedthru.com/tech_libr/rs-232-c.htm
4. http://www.piclist.com/techref/microchip/16F877/rs232-cr.htm
5. http://home.earthlink.net/~botronics/index/pickey.html

30
IX. APPENDIX D: COST

In all engineering projects one of the important criteria is the cost of project. We also show our budget.

PART COST ( TL )
147.500.000 TL
3 * SRF04 sensors

8.000.000 TL
1* PIC 16f877 micocontroller

Electronic Components( Max232 IC, 7805

6.000.000 TL
Voltage Regulator, XT, Capacitors,Resistors)
PIC 16F877 JMD Programmer 35.000.000 TL
TOTAL 196.000.000 TL

31