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 Sensor Applications
센서 자료실
작성자 leeky        
작성일 2006/04/06
첨부#1 irpd+smooth.bs2.zip (0KB) (Down:33)
첨부#2 rinxmotion_ir_detector_asy.jpg (0KB) (Down:29)
Link#1 (Down:12)
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  Lynxmotion Infrared Proximity Detector

Tel: 309-382-1816 (Sales)
Tel: 309-382-2760 (Support)
Fax: 309-382-1254
E-m: sales@lynxmotion.com

◆ Users Manual IRPD-01 Ver 7.0
IRPD Ver 2.0
 

◆ Using the IRPD
Mounting the IRPD
The height of the sensor and the color of the furniture
and flooring will determine the amount of tweaking necessary to get reliable results.

The optimum height seems to be from about 4" to 6" from the ground.
If the sensor is mounted lower, it may be necessary to point the LEDs higher,
or add small directional tubes, such as heat shrink, to the LEDs.

Keep the sensor mounted
horizontally as close to the front of the robot as possible.
There must not be any moving parts of the robot within the field of view,
in order to prevent false triggering.
Experimentation in the physical setup is the key to reliable operation.

◆ Testing with a Microcontroller
program. I have included general purpose Basic programs for the First Step
and the Next Step microcontrollers.
Follow this procedure to test and verify it's operation. If you have trouble,
it will most likely be getting the detector to not "see" the floor.

You may need to experiment with the alignment and positioning of the LEDs.
1) Apply power to the IRPDfrom the First Step or Next Step I/O bus.
2) Adjust the LED drive to the mid position between minimumand maximun.
3) Enter the correct program on page 6 into the Stamp editor
and program the Stamp with it.
4) Position the IRPDso it is pointing away from any objects. The LEDs should be off.
5) Place your hand directly in front of the PC board about 4" away fromthe sensor.
The status LEDs should be on steady.
If not quickly remove power and double check your wiring!
6) Move your hand about 4" from center to the left. You should see the left LED on only.
7) Move your hand about 4" from center to the right.
You should see the right LEDon only.
8) Move your hand from side to side to see the field of vision.
9) Nowmove your hand slowly away fromthe detector and take note
when the LEDs just start to flicker.
This is howfar the sensor can "see" an obstacle. If it is too far,
adjust the LED drive pot to the right for less current to the IRLED,
and less distance. If it is too close, adjust the LEDdrive pot to the left
for more current to the LEDs and more distance.

◆ Testing without a Microcontroller
You can test the IRPDwithout a microcontroller by following these instructions.
1) Apply +5vdc and ground to the red and black wires.
2) Apply +5vdc to the left LEDenable (blue) wire.
3) Adjust the LED drive to the mid position between minimumand maximum.
4) Mount the IRPD so it is pointing away fromany objects. The LEDs should be off.
5) Move your hand about 4" from center to the left.
You should see the left LED on only. The Left Status LED should be on.
If not quickly remove power and double check your wiring!
6) Nowmove your hand slowly away fromthe detector and take note
when the LED just starts to flicker. This is howfar the sensor can "see" an obstacle.
If it is too far, adjust the LED drive pot to the right for less current to the IRLED,
and less distance. If it is too close, adjust the LEDdrive pot to the left
for more current to the LEDs and more distance.
7) Remove the +5vdc to the left LEDenable (blue) wire
and apply +5vdc to the right LED enable (violet) wire.
Repeat steps 5 and 6 for the right side.

There are programs for the IRPD specifically written
for the robots we manufacture available from our website.
Check the website for the most up to date IRPD programs.
If you write an interesting program for the IRPDplease submit it to Lynxmotion.
We will put it on our website so others may benefit.

◆ Schematic Diagram

Using the IRPD
Note: This illustration shows howthe sensor can detect in three quadrants.
Additional Information Other Uses The IRPDwill "see" white objects fromfarther away
than darker objects, so you need to take this into account when adjusting the sensor.
If you have the resources, it would be a good idea to include a backup of bumper switches.

Experiment with the code and have fun.
The IRPDcan be used for purposes other than robotics.
This sensor can be used whenever it is necessary to detect the presence of an object
in a small area. Many people use it for automating their Halloween props.
A little ingenuity will go a long way in creating an interesting display.

◆ IRPD Truth Table 


 

◆ IRPD.BS2
' Program name: IRPD.BS2 for Basic Stamp 2
' This is the demo program to verify proper
' operation of the IRPD.

'Connections;
'IRPD left LED to I/O pin10
'IRPD right LED to I/O pin11
'IRPD IR Sensor output to I/O pin12

'Initialize Symbols
templ var bit
tempr var bit
action var nib
pause 1000 'wait for IR to settle.

start:
high 11 : pause 1
tempr = in12
low 11
high 10 : pause 1
templ = in12
low 10
action = 0
if templ=1 then cont1 'If 1 then nothing
action = action +1 'is on the left.

cont1:
if tempr=1 then cont2 'If 1 then nothing
action = action +2 'is on the right.

cont2:
'action = 0, nothing in the way
'action = 1, something in front of left side
'action = 2, something in front of right side
'action = 3, something in front of both sides
branch action,[forward,turn_r,turn_l,backup]
goto start

forward:
'Place code to make robot go forward here.
goto start

Turn_r:
'Place code to make robot go right here.
goto start

turn_l:
'Place code to make robot go left here.
goto start

backup:
'Place code to make robot go backward, then turn here.
goto start

◆ SMOOTH01.BS2
'Program name: SMOOTH01.BS2 for Basic Stamp 2 '
This program controls the Carpet Rover with a 'very fluid motion.
The routine constantly 'checks the IRPD and increases or decreases the 'speed accordingly.
The program operates as a 'single loop and is extremely efficient.

This 'code assumes that the robots left servo has 'the internal motor leads
reversed so both 'servos have the same response to similar 'values.
Servos must be calibrated to stop with '1.5mS pulses applied.

'Pinout
'pin0 = Left servo motor
'pin1 = Right servo motor
'pin10 = IRPD left LED enable
'pin11 = IRPD right LED enable
'Pin12 = IRPD sensor output

templ var bit
tempr var bit
left var byte
right var byte

left = 150 'Begin with a stopped vehicle.
right = 150
Start: 'Check the IRPD for obstacles
high 10: pause 1
Templ=in12 'a 0 means an obstacle is there.

low 10: pause 1
high 11: pause 1
Tempr=in12 'a 1 means an obstacle is not there.
low 11

'Each pass adjusts servo speed slightly.
'Loop time is approx. 20mS.
'Adding to value builds toward forward.
'Subtracting from value builds towards reverse.

branch tempr,[sub_left, add_left]

sub_left:
left = left - 1 min 130
goto done_left

add_left:
left = left + 1 max 170

done_left:
branch templ,[sub_right, add_right]

sub_right:
right = right - 1 min 130
goto done_right

add_right:
right = right + 1 max 170

done_right:
'Output the servo pulses.
pulsout 0, (left * 5)
pulsout 1, (right * 5)
pause 10
goto start 'Back to the top.

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