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+====== Co-Axial Helicopter with IR Elevation Control Code ======
+===== Code to send IR pulses =====
+<code c IRPulses.c>
+#include <TimerOne.h>
+//comment this out to see the demodulated waveform
+//it is useful for debugging purpose.
+#define MODULATED 1
+const int IR_PIN = 3;
+const int IR_PIN2 = 4;
+const int IR_PIN3 = 5;
+const unsigned long DURATION = 180000l;
+const int HEADER_DURATION = 2000;
+const int HIGH_DURATION = 380;
+const int ZERO_LOW_DURATION = 220;
+const int ONE_LOW_DURATION = 600;
+const byte ROTATION_STATIONARY = 60;
+const byte CAL_BYTE = 52;
+int Throttle, LeftRight, FwdBack;
+void sendHeader()
+{
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, HIGH);
+    digitalWrite(IR_PIN2, HIGH);
+    digitalWrite(IR_PIN3, HIGH);
+  #else
+    TCCR2A |= _BV(COM2B1);
+  #endif
+  delayMicroseconds(HEADER_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, LOW);
+    digitalWrite(IR_PIN2, LOW);
+    digitalWrite(IR_PIN3, LOW);
+  #else
+    TCCR2A &= ~_BV(COM2B1);
+  #endif
+  delayMicroseconds(HEADER_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, HIGH);
+    digitalWrite(IR_PIN2, HIGH);
+    digitalWrite(IR_PIN3, HIGH);
+  #else
+    TCCR2A |= _BV(COM2B1);
+  #endif
+  delayMicroseconds(HIGH_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, LOW);
+    digitalWrite(IR_PIN2, LOW);
+    digitalWrite(IR_PIN3, LOW);
+  #else
+    TCCR2A &= ~_BV(COM2B1);
+  #endif
+}
+void sendZero()
+{
+  delayMicroseconds(ZERO_LOW_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, HIGH);
+    digitalWrite(IR_PIN2, HIGH);
+    digitalWrite(IR_PIN3, HIGH);
+  #else
+    TCCR2A |= _BV(COM2B1);
+  #endif
+  delayMicroseconds(HIGH_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, LOW);
+    digitalWrite(IR_PIN2, LOW);
+    digitalWrite(IR_PIN3, LOW);
+  #else
+    TCCR2A &= ~_BV(COM2B1);
+  #endif
+}
+void sendOne()
+{
+  delayMicroseconds(ONE_LOW_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, HIGH);
+    digitalWrite(IR_PIN2, HIGH);
+    digitalWrite(IR_PIN3, HIGH);
+  #else
+    TCCR2A |= _BV(COM2B1);
+  #endif
+  delayMicroseconds(HIGH_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, LOW);
+    digitalWrite(IR_PIN2, LOW);
+   digitalWrite(IR_PIN3, LOW);
+  #else
+    TCCR2A &= ~_BV(COM2B1);
+  #endif
+}
+void sendCommand(int throttle, int leftRight, int forwardBackward)
+{
+  byte b;
+  sendHeader();
+  for (int i = 7; i >=0; i--)
+  {
+    b = ((ROTATION_STATIONARY + leftRight) & (1 << i)) >> i;
+    if (b > 0) sendOne(); else sendZero();
+  }
+  for (int i = 7; i >=0; i--)
+  {
+    b = ((63 + forwardBackward) & (1 << i)) >> i;
+    if (b > 0) sendOne(); else sendZero();
+  }
+  for (int i = 7; i >=0; i--)
+  {
+    b = (throttle & (1 << i)) >> i;
+    if (b > 0) sendOne(); else sendZero();
+  }
+  for (int i = 7; i >=0; i--)
+  {
+    b = (CAL_BYTE & (1 << i)) >> i;
+    if (b > 0) sendOne(); else sendZero();
+  }
+}
+void setup()
+{
+  pinMode(IR_PIN, OUTPUT);
+  digitalWrite(IR_PIN, LOW);
+  pinMode(IR_PIN2, OUTPUT);
+  digitalWrite(IR_PIN2, LOW);
+  pinMode(IR_PIN3, OUTPUT);
+  digitalWrite(IR_PIN3, LOW);
+  //setup interrupt interval: 180ms
+  Timer1.initialize(DURATION);
+  Timer1.attachInterrupt(timerISR);
+  //setup PWM: f=38Khz PWM=0.5
+  byte v = 8000 / 38;
+  TCCR2A = _BV(WGM20);
+  TCCR2B = _BV(WGM22) | _BV(CS20);
+  OCR2A = v;
+  OCR2B = v / 2;
+}
+void loop()
+{
+}
+void timerISR()
+{
+  //read control values from potentiometers
+  Throttle = analogRead(0);
+  LeftRight = analogRead(1);
+  FwdBack = analogRead(2);
+  Throttle = 100;//Throttle / 4; //convert to 0 to 255
+  LeftRight = 0;//LeftRight / 8 - 64; //convert to -64 to 63
+  FwdBack = 0;//FwdBack / 4 - 128; //convert to -128 to 127
+  sendCommand(Throttle, LeftRight, FwdBack);
+}
+</code>
+===== Code to get Ultrasonic readings =====
+<code c Ultrasonic.c>
+#include <i2cmaster.h>
+byte clockPin = 4;
+byte buf[9];//Buffer to store the received valeus
+byte addr = 0x02;//address 0x02 in a 8-bit context - 0x01 in a 7-bit context
+byte distance;
+void setup()
+{
+  i2c_init();//I2C frequency = 11494,253Hz
+  Serial.begin(115200);
+  printUltrasonicCommand(0x00);//Read Version
+  printUltrasonicCommand(0x08);//Read Product ID
+  printUltrasonicCommand(0x10);//Read Sensor Type
+  printUltrasonicCommand(0x14);//Read Measurement Units
+}
+void loop()
+{
+//  printUltrasonicCommand(0x42);//Read Measurement Byte 0
+  distance = readDistance();
+  if(distance == 0xFF)
+    Serial.println("Error Reading Distance");
+  else
+    Serial.println(distance, DEC);
+}
+byte readDistance()
+{
+  delay(100);//There has to be a delay between commands
+  byte cmd = 0x42;//Read Measurement Byte 0
+  pinMode(clockPin, INPUT);//Needed for writing to work
+  digitalWrite(clockPin, HIGH);
+  if(i2c_start(addr+I2C_WRITE))//Check if there is an error
+  {
+    Serial.println("ERROR i2c_start");
+    i2c_stop();
+    return 0xFF;
+  }
+  if(i2c_write(cmd))//Check if there is an error
+  {
+    Serial.println("ERROR i2c_write");
+    i2c_stop();
+    return 0xFF;
+  }
+  i2c_stop();
+  delayMicroseconds(60);//Needed for receiving to work
+  pinMode(clockPin, OUTPUT);
+  digitalWrite(clockPin, LOW);
+  delayMicroseconds(34);
+  pinMode(clockPin, INPUT);
+  digitalWrite(clockPin, HIGH);
+  delayMicroseconds(60);
+  if(i2c_rep_start(addr+I2C_READ))//Check if there is an error
+  {
+    Serial.println("ERROR i2c_rep_start");
+    i2c_stop();
+    return 0xFF;
+  }
+  for(int i = 0; i < 8; i++)
+    buf[i] = i2c_readAck();
+  buf[8] = i2c_readNak();
+  i2c_stop();
+  return buf[0];
+}
+void printUltrasonicCommand(byte cmd)
+{
+  delay(100);//There has to be a delay between commands
+  pinMode(clockPin, INPUT);//Needed for writing to work
+  digitalWrite(clockPin, HIGH);
+  if(i2c_start(addr+I2C_WRITE))//Check if there is an error
+  {
+    Serial.println("ERROR i2c_start");
+    i2c_stop();
+    return;
+  }
+  if(i2c_write(cmd))//Check if there is an error
+  {
+    Serial.println("ERROR i2c_write");
+    i2c_stop();
+    return;
+  }
+  i2c_stop();
+  delayMicroseconds(60);//Needed for receiving to work
+  pinMode(clockPin, OUTPUT);
+  digitalWrite(clockPin, LOW);
+  delayMicroseconds(34);
+  pinMode(clockPin, INPUT);
+  digitalWrite(clockPin, HIGH);
+  delayMicroseconds(60);
+  if(i2c_rep_start(addr+I2C_READ))//Check if there is an error
+  {
+    Serial.println("ERROR i2c_rep_start");
+    i2c_stop();
+    return;
+  }
+  for(int i = 0; i < 8; i++)
+    buf[i] = i2c_readAck();
+  buf[8] = i2c_readNak();
+  i2c_stop();
+  if(cmd == 0x00 || cmd == 0x08 || cmd == 0x10 || cmd == 0x14)
+  {
+      for(int i = 0; i < 9; i++)
+      {
+        if(buf[i] != 0xFF && buf[i] != 0x00)
+          Serial.print(buf[i]);
+        else
+          break;
+      }
+  }
+  else
+    Serial.print(buf[0], DEC);
+  Serial.println("");
+}
+/*
+' Wires on NXT jack plug.
+' Wire colours may vary. Pin 1 is always end nearest latch.
+' 1 White +9V
+' 2 Black GND
+' 3 Red GND
+' 4 Green +5V
+' 5 Yellow SCL - also connect clockpin to give a extra low impuls
+' 6 Blue SDA
+' Do not use i2c pullup resistor - already provided within sensor.
+*/
+</code>
+===== Final Code =====
+<code c Final.c>
+#include <GP2D02.h>
+//comment this out to see the demodulated waveform
+//it is useful for debugging purpose.
+#define MODULATED 1
+//Pins
+const int IR_PIN = 3; //Infrared LED pin
+const int vIn = 8; //Green Wire of GP2D02
+const int vOut = 9; //Yellow Wire of GP2D02
+//For signal generation. Lengths are in microseconds.
+const int HEADER_DURATION = 2000; //Length of header pulse
+const int HIGH_DURATION = 380; //Length of high part of 0/1-pulse
+const int ZERO_LOW_DURATION = 220; //Length of low part of 0-pulse
+const int ONE_LOW_DURATION = 600; //Length of low part of 1-pulse
+const byte ROTATION_STATIONARY = 60; // Trim
+const byte CAL_BYTE = 52; //Trailing pulse signature
+//For fitness calculation
+int heightCM = 12; //Input the height you want the program to attempt to reach
+int heightIRvalue = 447.54*pow(heightCM,-0.407); // Conver CM to the scale that the GP2D02 outputs at
+int bestFitness = 1000; // starting best fitness is far from zero
+int currentFitness = 1000; // starting fitness is far from zero
+int runNum = 0; //Tracks number of runs
+int currentIRValue = 0; //Store GP2D02 IRValue
+int minIR = 0; //Minimum position IR Value
+int maxIR = 0; //Maximum position IR Value
+int lastHighThrottle = 255; // Starts last fit high throttle at max range
+int lastLowThrottle = 0; // Starts last low high throttle at min range
+int lastThrottle = 0; // The value of the throttle on the last run
+//For timed loop of one run
+int starttime = 0;
+int endtime = 0;
+//For intial SYMA 107 signal parameters
+int Throttle = 0;
+int LeftRight = 0;//-64 to 63
+int FwdBack = 0;//-128 to 127
+//Initialize the IR sensor
+GP2D02 sensor(vIn,vOut);
+void sendHeader() //Sends the header pulse that singals the begining of a command
+{
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, HIGH);
+  #else
+    TCCR2A |= _BV(COM2B1);
+  #endif
+  delayMicroseconds(HEADER_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, LOW);
+  #else
+    TCCR2A &= ~_BV(COM2B1);
+  #endif
+  delayMicroseconds(HEADER_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, HIGH);
+  #else
+    TCCR2A |= _BV(COM2B1);
+  #endif
+  delayMicroseconds(HIGH_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, LOW);
+  #else
+    TCCR2A &= ~_BV(COM2B1);
+  #endif
+}
+void sendZero() //Sends one 0 pulse
+{
+  delayMicroseconds(ZERO_LOW_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, HIGH);
+  #else
+    TCCR2A |= _BV(COM2B1);
+  #endif
+  delayMicroseconds(HIGH_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, LOW);
+  #else
+    TCCR2A &= ~_BV(COM2B1);
+  #endif
+}
+void sendOne() //Sends one 1 pulse
+{
+  delayMicroseconds(ONE_LOW_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, HIGH);
+  #else
+    TCCR2A |= _BV(COM2B1);
+  #endif
+  delayMicroseconds(HIGH_DURATION);
+  #ifndef MODULATED
+    digitalWrite(IR_PIN, LOW);
+  #else
+    TCCR2A &= ~_BV(COM2B1);
+  #endif
+}
+void sendCommand(int throttle, int leftRight, int forwardBackward)
+{ //Converts SYMA Parameters to a signal
+  //For loops convert decimal numbers to binary numbers
+  //Sends a pulse for each 0 or 1.
+  byte b;
+  sendHeader();
+  for (int i = 7; i >=0; i--)
+  { // Yaw part of signal
+    b = ((ROTATION_STATIONARY + leftRight) & (1 << i)) >> i;
+    if (b > 0) sendOne(); else sendZero();
+  }
+  for (int i = 7; i >=0; i--)
+  { //Pitch part of signal
+    b = ((63 + forwardBackward) & (1 << i)) >> i;
+    if (b > 0) sendOne(); else sendZero();
+  }
+  for (int i = 7; i >=0; i--)
+  { //Throttle part of signal
+    b = (throttle & (1 << i)) >> i;
+    if (b > 0) sendOne(); else sendZero();
+  }
+  for (int i = 7; i >=0; i--)
+  { //Trailing Pulses
+    b = (CAL_BYTE & (1 << i)) >> i;
+    if (b > 0) sendOne(); else sendZero();
+  }
+}
+void setup()
+{ //Initializes the program
+  Serial.begin(9600); //Baud rate for command line
+  pinMode(IR_PIN, OUTPUT); //Initializes the LED pin
+  digitalWrite(IR_PIN, LOW);
+  //setup PWM: f=38Khz PWM=0.5
+  byte v = 8000 / 38;
+  TCCR2A = _BV(WGM20);
+  TCCR2B = _BV(WGM22) | _BV(CS20);
+  OCR2A = v;
+  OCR2B = v / 2;
+  minIR = sensor.getRawRange(); //get lowest point IR reading
+  maxIR = 3000000*pow(minIR,-2.409)+11; //Convert to centimeters and add range of height of boom in cm
+  maxIR = 447.54*pow(maxIR,-0.407); //Convert to scaled IR value
+  Serial.println("Program Start");
+  Serial.print("Height to reach: ");
+  Serial.println(heightIRvalue);
+}
+void loop() //main program loop
+{
+  randomSeed(millis());
+  runNum = runNum + 1;
+  if(runNum>1){ //Runs after first
+  Serial.println("runNum>1");
+    if(bestFitness>5){ //if last fitness was high then new random is a smaller number
+      Throttle = random(lastThrottle,lastHighThrottle);//0 to 255
+      lastLowThrottle = lastThrottle;
+      Serial.println("bF>5");
+    }
+    else if(bestFitness<-5){ //if last fitness was low then new random is larger number
+      Throttle = random(lastLowThrottle,lastThrottle);
+      lastHighThrottle = lastThrottle;
+       Serial.println("bF>5");
+    }
+    else{ // 0 is the best fitness, this is the final part of the program
+        Serial.println("\nFinal Values");
+        Serial.print("Throttle: ");
+        Serial.println(lastThrottle);
+        Serial.print("Number of Runs: ");
+        Serial.println(runNum);
+      while(1){
+        sendCommand(lastThrottle, LeftRight, FwdBack); //generates IR signal
+        //end of program
+        //hangs indefinately
+      }
+    }
+  }
+  else{ //Initial Run
+  Serial.println("runNum1");
+    Throttle = random(255);
+  }
+  Serial.print("\nNumber of Runs: ");
+  Serial.println(runNum);
+  Serial.print("Throttle: ");
+  Serial.println(Throttle);
+  lastThrottle = Throttle;
+  starttime = millis();
+  endtime = starttime;
+  // do this loop for up to 5000mS
+  while ((endtime - starttime) <=5000)
+  { //Runs take place over a period of 5 seconds
+    sendCommand(Throttle, LeftRight, FwdBack); //generates IR signal
+    endtime = millis();
+    currentIRValue = sensor.getRawRange();
+    currentFitness = currentIRValue-heightIRvalue;
+  }
+  if(abs(currentFitness)<abs(bestFitness)){
+    bestFitness = currentFitness; //If new fitness is closer to zero, replace old fitness
+  }
+  Serial.print("Current IR Value: ");
+  Serial.println(currentIRValue);
+  Serial.print("Current Fitness: ");
+  Serial.println(bestFitness);
+  delay(3000); //wait to lower to lowest position.
+}
+</code>
+===== Libraries =====
+  * [[http://code.google.com/p/arduino-timerone/downloads/list|TimerOne.h]]
+  * [[https://github.com/jtrollinson/ArduinoGP2D02|GP2D02.h]]