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FIGURE 542
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Diagram of PNA4602M infrared sensor module
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Parameter Operating supply voltage Current consumption Max reception distance Low-level output voltage High-level output voltage Low-level pulse width High-level pulse width
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Symbol Vcc Icc Lmax Vol Voh Twl Twh
Minimum Typical 47 18 8 50 24 10 035 48 200 200 50 400 400 380
Maximum 53 30
Unit V mA m
TABLE 54
Characteristics of the PNA4602M Module
05 Vcc 600 600
V V s s kHz 151
Carrier frequency Fo
Amphibionics
The sensor board works by producing modulated infrared radiation with an infrared LED and using the PNA4602 module to detect any radiation reflected from the surface of solid objects The PNA4602 sensor is designed to respond only to infrared that is modulated at a frequency somewhere between 38 42 kHz The circuit is tuned to modulate the infrared LED at this frequency Depending on the proximity of the sensor to the object, a greater or lesser number of infrared pulses will be reflected back The number of reflected hits that the sensor receives in a given time frame allows the robot to determine how close it is to objects The higher the number of reflected pulses, the closer the sensor is to the object The output pin from the PNA4602 is connected to a microcontroller input pin, and a software routine is used to monitor the sensor
Constructing the Infrared Sensor Circuit Board
To fabricate the PCB, photocopy the artwork in Figure 543 onto a transparency Make sure that the photocopy is the exact size of the original After the artwork has been successfully transferred to a transparency, use the techniques outlined in 2 to create a board A 4-inch 6-inch presensitized positive copper board is ideal When you place the transparency on the copper board, it should be oriented so that it is exactly the same as in Figure 543
FIGURE 543
Infrared sensor board PCB foil pattern artwork
5 / Serpentronic: Build Your Own Robotic Snake
Circuit board drilling and parts placement Use a 1/32-inch drill bit to drill all of the component holes on the PCB Drill the holes for the voltage regulator (U1) with a 3/64-inch drill bit Use Table 53 and Figure 544 to place the parts on the component side of the circuit board Note that the 555 timer is mounted in an 8-pin IC socket The 8-pin socket is soldered to the PC board and the 555 is inserted after the board has been soldered Use a finetoothed saw to cut the board along the guide lines, and drill the mounting holes using a 6/32-inch drill bit Figure 545 shows the finished main controller board
FIGURE 544
Infrared sensor board PCB component side parts placement
FIGURE 545
Parts soldered to the finished PCB
Amphibionics
Calibration
To calibrate the infrared sensor board, a multimeter with frequency measuring capabilities like the one shown in Figure 546 will be used Connect a 5-volt DC source to the circuit, as shown in Figure 547 Connect the positive lead of the multimeter to the point shown in Figure 547, and connect the common lead to the circuit ground Set the multimeter to read frequency Use a small screwdriver to adjust potentiometer R3, until a frequency of approximately 43 kHz is displayed This will adjust the circuit so that the 555 timer is producing a 5-volt square wave that will modulate the infrared LEDs at a frequency that is close to where the PNA4602 sensor module will respond The circuit frequency will be fine-tuned with a software routine later in the chapter
FIGURE 546
Fluke 87 digital multimeter with frequency measuring capabilities
5 / Serpentronic: Build Your Own Robotic Snake
FIGURE 547
Multimeter probe connection guide
Mounting the Controller and Infrared Sensor Board
The main controller circuit board will be mounted in the snake s head on three 1/4-inch diameter nylon standoffs cut to a length of 1/2-inch Position the standoffs over the mounting holes in the head and place the circuit board on top of the standoffs Secure the board in place with three 6/32-inch 1-inch machine screws, lock washers, and nuts, as shown in Figure 548 Table 55 lists all the parts needed to mount the boards and wire the infrared sensor to the main controller board
Part 3-strand ribbon wire 3-connector female header 2-connector female header 1-connector female header Heat shrink tubing 1/4-inch diameter nylon standoff
Quantity 1 1 1 1 1 5
Description 6 inches 25-mm spacing 25-mm spacing 25-mm spacing 3 inches 1/4-inch length
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