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The Visual Basic program served one
purpose, it acted as the "human to computer" interface. This
code would convert the serial signals coming from the robot and display
all the gathered information from the sensors and displaying the data on
the screen with a graphical front end (also called a GUI, graphical user
interface). Our main goal by this was to make the robot as easy to
control as possible so that any human being would have no trouble
understanding what the robot was detecting.
Option Explicit
Dim CommandMode
As Integer
Dim KillBtn As Boolean
Private Sub Command1_Click()
KillBtn = True
'Turn off robot
End Sub
Private Sub Form_Load()
CommandMode = 254 'Set command
MSComm1.PortOpen = True
'Open serial port
End Sub
Private Sub Form_Unload(Cancel
As Integer)
End
'End program
End Sub
Private Sub MSComm1_OnComm()
Dim TmpData
As String
If MSComm1.CommEvent = comEvReceive
Then
TmpData = MSComm1.Input 'Store serial data to buffer
'Debug serial data
Debug.Print Asc(TmpData) & " " & CommandMode
If CommandMode = 254
Then
CommandMode = Asc(TmpData) 'Store ASCII Type
End If
If Asc(TmpData) = 254
Then
CommandMode = 254 'Store integer type
End If
If CommandMode <> 254
Then
Select Case CommandMode
'Command modes
Case 4
Select Case Asc(TmpData)
Case 1
MotorR.Caption = "STOP"
Shape2(5).FillColor = RGB(255, 0, 0)
MotorL.Caption = "STOP"
Shape2(6).FillColor = RGB(255, 0, 0)
Case 2
MotorR.Caption = "REV"
Shape2(5).FillColor = RGB(0, 0, 255)
MotorL.Caption = "REV"
Shape2(6).FillColor = RGB(0, 0, 255)
Case 3
MotorR.Caption = "FWD"
Shape2(5).FillColor = RGB(0, 255, 0)
MotorL.Caption = "FWD"
Shape2(6).FillColor = RGB(0, 255, 0)
Case 4
MotorR.Caption = "FWD"
Shape2(6).FillColor = RGB(0, 255, 0)
MotorL.Caption = "REV"
Shape2(5).FillColor = RGB(0, 0, 255)
Case 5
MotorR.Caption = "REV"
Shape2(6).FillColor = RGB(0, 0, 255)
MotorL.Caption = "FWD"
Shape2(5).FillColor = RGB(0, 255, 0)
End Select
Case 3
If Asc(TmpData) = 250
Then
MsgBox "Robot program ended"
MotorR.Caption = "STOP"
Shape2(5).FillColor = RGB(255, 0, 0)
MotorL.Caption = "STOP"
Shape2(6).FillColor = RGB(255, 0, 0)
End If
Case 30
SonarL.Caption = Asc(TmpData)
Shape2(2).FillColor = RGB(0, Asc(TmpData), 0)
Case 31
Sonarc.Caption = Asc(TmpData)
Shape2(3).FillColor = RGB(0, Asc(TmpData), 0)
Case 32
SonarR.Caption = Asc(TmpData)
Shape2(4).FillColor = RGB(0, Asc(TmpData), 0)
Case 33
IRODL.Caption = Asc(TmpData)
Case 34
IRODR.Caption = Asc(TmpData)
CommandMode = 254
End Select
End If
End If
End Sub
Private Sub Timer1_Timer()
MSComm1.Output = Chr(255) 'Handle output
End Sub
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