Rover Extensions

Sound Controlled Rover

In this project, you will control your rover by whistling!

Start

Prerequisites Parts Setup Determine Frequency Control Your Rover Run Program Practice

Prerequisites

Make sure you have completed the following projects before starting

Parts

Make sure you have all the parts before moving on.

Note: you can use any Phidget with an accelerometer for this project.

Kits/ Kit4004

Phidget Rover

Sensors / SND1000

Sound Phidget

Cables/ CBL4121

Phidget cable

Setup

Step 1

You should have an assembled rover.

Step 2

Mount the Sound Phidget anywhere on the chassis of your rover.

Determine the Frequency of Your Whistle

The Sound Phidget can detect the following frequencies: 31.5Hz, 63Hz, 125Hz, 250Hz, 500Hz, 1kHz, 2kHz, 4kHz, 8kHz, 16kHz.

Run the program below to determine the primary frequency of your whistle.

Code (Java)

Copy the code below into a new Java project. If you need a reminder of how to do this, revisit the Getting Started Course.

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//Add Phidgets Library
import com.phidget22.*;

public class WhistleDetector {

    public static double max(double[] vals){
        double max = vals[0];
        for(int i = 1; i < vals.length; i++){
            if(vals[i] > max){
                max = vals[i];
            }
        }
        return max;
    }
    
    public static int indexof(double val, double[] arr){
        for(int i = 0; i < arr.length; i++){
            if(val == arr[i]){
                return i;
            }
        }        
        return 0;
    }
    
    public static void main(String[] args) throws Exception{
        //Define | The Sound Phidget can reports information about 10 indiviual frequency bands.
        double[] octaves_val = {31.5, 63, 125, 250, 500, 1000, 2000, 4000, 8000, 16000};
        
        //Create
        SoundSensor soundSensor = new SoundSensor();

        //Open
        soundSensor.open(1000);

        //Use your Phidgets
        while (true) {
            
            //Retrieve frequency band information
            double[] octaves = soundSensor.getOctaves();
            
            //Determine the dominate frequency, and return the index
            int max_index = indexof(max(octaves), octaves);
                        
            System.out.println("Frequency:  " + octaves_val[max_index] + " Hz");
            Thread.sleep(250);
        }
    }    
}

  
package whistledetector;

//Add Phidgets Library
import com.phidget22.*;

public class WhistleDetector {

    public static double max(double[] vals){
        double max = vals[0];
        for(int i = 1; i < vals.length; i++){
            if(vals[i] > max){
                max = vals[i];
            }
        }
        return max;
    }
    
    public static int indexof(double val, double[] arr){
        for(int i = 0; i < arr.length; i++){
            if(val == arr[i]){
                return i;
            }
        }        
        return 0;
    }
    
    public static void main(String[] args) throws Exception{
        //Define | The Sound Phidget can reports information about 10 indiviual frequency bands.
        double[] octaves_val = {31.5, 63, 125, 250, 500, 1000, 2000, 4000, 8000, 16000};
        
        //Create
        SoundSensor soundSensor = new SoundSensor();

        //Open
        soundSensor.open(1000);

        //Use your Phidgets
        while (true) {
            
            //Retrieve frequency band information
            double[] octaves = soundSensor.getOctaves();
            
            //Determine the dominate frequency, and return the index
            int max_index = indexof(max(octaves), octaves);
                        
            System.out.println("Frequency:  " + octaves_val[max_index] + " Hz");
            Thread.sleep(250);
        }
    }    
}

  
Code not available.

Code (Python)

Copy the code below into a new Python project. If you need a reminder of how to do this, revisit the Getting Started Course.

Not your programming language? Set your preferences so we can display relevant code examples

  
#Add Phidgets Library
from Phidget22.Phidget import *
from Phidget22.Devices.SoundSensor import *
#Required for sleep statement
import time

#Define | The Sound Phidget can reports information about 10 indiviual frequency bands.
octaves_val = [31.5, 63, 125, 250, 500, 1000, 2000, 4000, 8000, 16000]
 
#Create
soundSensor = SoundSensor()

#Open
soundSensor.openWaitForAttachment(1000)

#Use your Phidgets
while (True):
    #Retrieve frequency band information
    octaves = soundSensor.getOctaves()    
    #Determine the dominant frequency, and return the index    
    max_index = octaves.index(max(octaves))    
    #Print the corresponding frequency
    print("Frequency: " + str(octaves_val[max_index]) + " Hz")    
    time.sleep(0.25)

Code (C#)

Copy the code below into a new C# project. If you need a reminder of how to do this, revisit the Getting Started Course.

Not your programming language? Set your preferences so we can display relevant code examples

  
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Phidget22;

namespace WhistleDetector
{
    internal class Program
    {
        static void Main(string[] args)
        {
            //Define | The Sound Phidget can reports information about 10 indiviual frequency bands.
            double[] octaves_val = {31.5, 63, 125, 250, 500, 1000, 2000, 4000, 8000, 16000};

            //Create
            SoundSensor soundSensor = new SoundSensor();

            //Open
            soundSensor.Open(1000);

            //Use your Phidgets
            while (true)
            {
                //Retrieve frequency band information
                double[] octaves = soundSensor.Octaves;

                //Determine the dominate frequency, and return the index
                int max_index = octaves.ToList().IndexOf(octaves.Max());

                System.Console.WriteLine("Frequency: " + octaves_val[max_index] + " Hz");
                System.Threading.Thread.Sleep(250);
            }
        }
    }
}

Code (Swift)

Copy the code below into a new Swift project. If you need a reminder of how to do this, revisit the Getting Started Course.

Not your programming language? Set your preferences so we can display relevant code examples

  
Code not available.

Control Your Rover With Your Whistle

Now that you know the frequency of your whistle, you can use it to control your rover!

Write Code (Java)

Not your programming language? Set your preferences so we can display relevant code examples

  
package phidgetsrover;

//Add Phidgets Library
import com.phidget22.*;

public class PhidgetsRover {
    
    public static double max(double[] vals){
        double max = vals[0];
        for(int i = 1; i < vals.length; i++){
            if(vals[i] > max){
                max = vals[i];
            }
        }
        return max;
    }
    
    public static int indexof(double val, double[] arr){
        for(int i = 0; i < arr.length; i++){
            if(val == arr[i]){
                return i;
            }
        }        
        return 0;
    }
    
    public static void main(String[] args) throws Exception{

        //Define 
        double[] octaves_val = {31.5, 63, 125, 250, 500, 1000, 2000, 4000, 8000, 16000};
        
        //Define YOUR whistling frequency
        double whistleFreq = 1000.0;
        
        //Connect to wireless rover
        Net.addServer("", "192.168.100.1", 5661, "", 0);

        //Create
        DCMotor leftMotors = new DCMotor();
        DCMotor rightMotors = new DCMotor();
        SoundSensor soundSensor = new SoundSensor();

        //Address
        leftMotors.setChannel(0);
        rightMotors.setChannel(1);

        //Open
        leftMotors.open(5000);
        rightMotors.open(5000);
        soundSensor.open(5000);

        //Increase acceleration
        leftMotors.setAcceleration(leftMotors.getMaxAcceleration());
        rightMotors.setAcceleration(rightMotors.getMaxAcceleration());

        //Use your Phidgets
        while (true){
            //Retrieve frequency band information
            double[] octaves = soundSensor.getOctaves();
            
            //Determine the dominate frequency, and return the index
            int max_index = indexof(max(octaves), octaves);    
            
            //If the dominant frequency matches your whistle, perform a special movement
            if(whistleFreq == octaves_val[max_index]){
                leftMotors.setTargetVelocity(-0.25);
                rightMotors.setTargetVelocity(0.25);
                Thread.sleep(1000);
                leftMotors.setTargetVelocity(0);
                rightMotors.setTargetVelocity(0);
            }
            //Wait for 250 milliseconds
            Thread.sleep(250);
        }
    }
}

  
//Add Phidgets Library
import com.phidget22.*;

public class PhidgetsRover {
    
    public static double max(double[] vals){
        double max = vals[0];
        for(int i = 1; i < vals.length; i++){
            if(vals[i] > max){
                max = vals[i];
            }
        }
        return max;
    }
    
    public static int indexof(double val, double[] arr){
        for(int i = 0; i < arr.length; i++){
            if(val == arr[i]){
                return i;
            }
        }        
        return 0;
    }
    
    public static void main(String[] args) throws Exception{

        //Define 
        double[] octaves_val = {31.5, 63, 125, 250, 500, 1000, 2000, 4000, 8000, 16000};
        
        //Define YOUR whistling frequency
        double whistleFreq = 1000.0;
        
        //Connect to wireless rover
        Net.addServer("", "192.168.100.1", 5661, "", 0);

        //Create
        DCMotor leftMotors = new DCMotor();
        DCMotor rightMotors = new DCMotor();
        SoundSensor soundSensor = new SoundSensor();

        //Address
        leftMotors.setChannel(0);
        rightMotors.setChannel(1);

        //Open
        leftMotors.open(5000);
        rightMotors.open(5000);
        soundSensor.open(5000);

        //Increase acceleration
        leftMotors.setAcceleration(leftMotors.getMaxAcceleration());
        rightMotors.setAcceleration(rightMotors.getMaxAcceleration());

        //Use your Phidgets
        while (true){
            //Retrieve frequency band information
            double[] octaves = soundSensor.getOctaves();
            
            //Determine the dominate frequency, and return the index
            int max_index = indexof(max(octaves), octaves);    
            
            //If the dominant frequency matches your whistle, perform a special movement
            if(whistleFreq == octaves_val[max_index]){
                leftMotors.setTargetVelocity(-0.25);
                rightMotors.setTargetVelocity(0.25);
                Thread.sleep(1000);
                leftMotors.setTargetVelocity(0);
                rightMotors.setTargetVelocity(0);
            }
            //Wait for 250 milliseconds
            Thread.sleep(250);
        }
    }
}

  
Code sample not available.

Write Code (Python)

Not your programming language? Set your preferences so we can display relevant code examples.

  

#Add Phidgets Library
from Phidget22.Phidget import *
from Phidget22.Net import *
from Phidget22.Devices.SoundSensor import *
from Phidget22.Devices.DCMotor import *
#Required for sleep statement
import time

#Define | The Sound Phidget can reports information about 10 indiviual frequency bands.
octaves_val = [31.5, 63, 125, 250, 500, 1000, 2000, 4000, 8000, 16000]

#Define YOUR whistling frequency
whistle_frequency = 1000

#Connect to your rover
Net.addServer("", "192.168.100.1", 5661, "", 0)

#Create
leftMotors = DCMotor()
rightMotors = DCMotor()
soundSensor = SoundSensor()

#Address
leftMotors.setChannel(0)
rightMotors.setChannel(1)

#Open
leftMotors.openWaitForAttachment(5000)
rightMotors.openWaitForAttachment(5000)
soundSensor.openWaitForAttachment(5000)

#Increase acceleration
leftMotors.setAcceleration(leftMotors.getMaxAcceleration())
rightMotors.setAcceleration(rightMotors.getMaxAcceleration())

#Use your Phidgets
while (True):
    #Retrieve frequency band information
    octaves = soundSensor.getOctaves()
    
    #Determine the dominant frequency, and return the index    
    max_index = octaves.index(max(octaves))
    
    #If the dominant frequency matches your whistle, perform a special movement
    if(whistle_frequency == octaves_val[max_index]):
        #Perform a special movement
        leftMotors.setTargetVelocity(-0.25)
        rightMotors.setTargetVelocity(0.25)
        time.sleep(1)
        leftMotors.setTargetVelocity(0)
        rightMotors.setTargetVelocity(0)
        
    #Wait for 250 milliseconds
    time.sleep(0.25)

Write Code (C#)

Not your programming language? Set your preferences so we can display relevant code examples

  

//Add Phidgets Library
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Phidget22;

namespace PhidgetsRover
{
    class Program
    {
        static void Main(string[] args)
        {
            //Define 
            double[] octaves_val = { 31.5, 63, 125, 250, 500, 1000, 2000, 4000, 8000, 16000 };

            //Define YOUR whistling frequency
            double whistleFreq = 1000.0;

            //Connect to wireless rover
            Net.AddServer("", "192.168.100.1", 5661, "", 0);

            //Create
            DCMotor leftMotors = new DCMotor();
            DCMotor rightMotors = new DCMotor();
            SoundSensor soundSensor = new SoundSensor();

            //Address
            leftMotors.Channel = 0;
            rightMotors.Channel = 1;

            //Open
            leftMotors.Open(5000);
            rightMotors.Open(5000);
            soundSensor.Open(5000);

            //Increase acceleration
            leftMotors.Acceleration = leftMotors.MaxAcceleration;
            rightMotors.Acceleration = rightMotors.MaxAcceleration;

            //Use your Phidgets
            while (true)
            {
                //Retrieve frequency band information
                double[] octaves = soundSensor.Octaves;

                //Determine the dominate frequency, and return the index
                int max_index = octaves.ToList().IndexOf(octaves.Max());

                //If the dominant frequency matches your whistle, perform a special movement
                if (octaves_val[max_index] == whistleFreq)
                {
                    leftMotors.TargetVelocity = -0.25;
                    rightMotors.TargetVelocity = 0.25;
                    System.Threading.Thread.Sleep(250);
                    leftMotors.TargetVelocity = 0;
                    rightMotors.TargetVelocity = 0;
                }
                
                //Wait for 250 milliseconds
                System.Threading.Thread.Sleep(250);
            }
        }
    }
}

Write Code (Swift)

  
Code not available.

Run Your Program

Run your program and then whistle in the vicinity of your rover. You will see your rover perform a special movement!

Practice

The Sound Phidget can detect the following frequencies: 31.5Hz, 63Hz, 125Hz, 250Hz, 500Hz, 1kHz, 2kHz, 4kHz, 8kHz, 16kHz. Try creating special movements for each frequency. You can use an online tone generator to generate different frequencies.
Modify your program so the rover moves towards you when you whistle. You will need two or more Sound Phidgets for this.

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