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FIGURE 30-6 BS2 circuit that generates a modulated signal for an IR LED which should be detected by a TV remote.
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the BS2 has finished sending it, the output of an IR receiver can be polled at Pin 1. The application that tests the operation of the IR receiver follows. Remember to slip a piece of 5 mm heat shrink tubing over the IR LED.
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' ' ' ' ' BS2 Object Detection - Using BS2 "Freqout" Detect Objects myke predko 05.09.10
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TABLE 30-3 BS2 IC1 LED1 R1 R2 R3 C1 Misc.
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Parts List for BS2 IR Object Detection/Range Finder Parallax BASIC Stamp 2 38 kHz IR TV remote control receiver 5mm IR LED 100 resistor 10k resistor 270 resistor 47 F electrolytic capacitor BS2 communications/programming interface, breadboard, breadboard wiring, 4 AA battery clip, 4 AA batteries, 3 4 in long piece of 5 mm heat shrink tubing
30.2 NONCONTACT NEAR-OBJECT DETECTION
'{$STAMP BS2} '{$PBASIC 2.5} ' I/O Pins IREmitter PIN 0 IRRxr PIN 1 ' Variables IRStatus VAR Bit ' Mainline DO FREQOUT IREmitter, 1, 36500 ' Output IR Signal IRStatus = (IRRxr ^ 1) ' High When Received DEBUG "Sensor Value = ", BIN1 IRStatus, CR PAUSE 250 ' Repeat
LOOP
When the IR LED is arranged to fire perpendicularly from the face of the TV remote control receiver, you should find that the IR receiver will detect objects at about 18 in away. As noted in the previous section, this distance can be reduced by changing the frequency, but instead of changing a single frequency to detect objects at a specific distance from the robot, why not also determine the distance objects are from the robot In the next program listed, the frequency is changed to give a three-bit value indicating the relative distance of the object away from the IR LED/TV remote control receiver. When the least significant bit of the return value is set, the object is approximately a foot away from the sensor. The next bit indicates if the object is within 6 in of the sensor, and the most significant bit indicates if the object is within 3 in of the IR LED/TV remote control receiver sensor. This amount of accuracy should be adequate for most robot applications.
' ' ' ' ' ' ' ' ' ' BS2 Object Ranging - Using BS2 "Freqout" Detect Objects Different IR Frequencies are used to Determine the (Rough) Distance to an Object. Frequency Values Specified by Author. myke predko 05.09.10
'{$STAMP BS2} '{$PBASIC 2.5} ' I/O Pins IREmitter PIN 0 IRRxr PIN 1 ' Variables IRStatus VAR i VAR IRDist VAR IRFreq VAR
Byte Byte Byte Word
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Mainline DO IRStatus = 0 FOR i = 0 TO 2 LOOKUP i,[48000, 44500, 42000], IRFreq FREQOUT IREmitter, 1, IRFreq ' Output IR Signal IRStatus = (IRStatus << 1) + (IRRxr ^ 1) PAUSE 100 NEXT DEBUG "Sensor Value = ", DEC IRStatus, CR PAUSE 250 LOOP ' Repeat
The values passed to freqout were determined empirically; that is to say different values were tested for the TV remote control receiver used in the prototype circuit. You will find that different remote control receivers will behave differently with different freqout values the important point to recognize here is that the same manufacturer s receivers of a specific part number should be used for a robot or else you will have to come up with frequency values for each receiver used in the robot.
30.2.3 SHARP INFRARED OBJECT SENSORS
The premier maker of infrared object and distance measurement sensors for use in robotics is Japan-based Sharp. One of their infrared distance measurement sensors, the GP2D02, is shown in Fig. 30-7. Actually, Sharp doesn t make these sensors for the robot-
FIGURE 30-7 The Sharp infrared sensors work similarly to the BS2 proximity sensor presented earlier in the book.
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