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ics industry; rather, they are principally intended for use in cars for proximity devices and copiers for paper detection. Depending on the model, the sensors have a range of about 4 in (10 cm) and 31.5 in (80 cm). The Sharp infrared sensors share better-than-average immunity to ambient light levels, so you can use them under a variety of lighting conditions (except perhaps very bright light outdoors). The sensors use a modulated as opposed to a continuous infrared beam that helps reject false triggering. It also makes the system accurate even if the detected object absorbs or scatters infrared light, such as heavy curtains or dark-colored fabrics. Sharp GP2D12 Analog Output Infrared Ranging Sensor The GP2D12 is probably the most popular infrared object sensor used in robotics. While other Sharp ranging modules provide a digital output (either in the form of a changing signal when an object within a threshold is reached or by a synchronous serial I/O), the GP2D12 outputs an analog signal that can be read by a microcontroller and converted into a distance to object. To demonstrate how this can be done, an ADC0804 was attached to a BS2 (as shown in Fig. 30-8) and the distance to an object was calculated from the analog voltage output from the GP2D12. The parts list for the circuit is listed in Table 30-4. The program used to read the current analog voltage from the GP2D12 output from the ADC0804 and convert it to a distance follows. To calculate the distance, the voltage levels at 10 cm intervals were recorded and then the slopes and the X intercept values for the lines
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SOUT SIN ATN VSS P0 P1 P2 P3 P4 P5 P6 P7 VIN VSS _RES VDD P15 P14 P13 P12 P11 P10 P9 P8
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DB6 DB5 DB4 DB3 DB2 DB1 DB0 WR RD CS VIN(+) CLK IN CLK R
D GND A GND
8 C1 10
VIN(-)
7 9 0.1 uF C2
4x AA Batteries
IC1 ADC0804
VREF2
11 12
2 1 6
GP2D12 (Front View)
4 0.1 uF R1 10k 19
C4 100 pF
FIGURE 30-8 BS2 Circuit to output the distance from a Sharp GP2D12 infrared ranging sensor to a PC s console.
10 uF
OBJECT DETECTION
TABLE 30-4 BS2 IC1 IC2 R1 C1 C3 C4 Misc.
Parts List for BS2/GP2D12 Object Distance Measuring Circuit Parallax BASIC Stamp 2 ADC0804 ADC converter Sharp GP2D12 with breadboard wires attached 10k resistor 0.1 F capacitor, any type 100 pF capacitor, any type BS2 serial port communications/programming interface, breadboard, breadboard wiring, 4 AA battery clips, 4 AA alkaline batteries.
between 10 cm points were calculated. The voltage value was then interpolated between these points on the line.
' BS2 GP2D12 - Measuring Distance Using a Sharp GP2D12 ' ' Distance Information is taken from Figure 6 of GP2D12 ' Datasheet ' 10cm - 2.40 Volts - ADC = 123 ' 20cm - 1.40 Volts - ADC = 72 ' 30cm - 1.00 Volts - ADC = 51 ' 40cm - 0.75 Volts - ADC = 38 ' 50cm - 0.55 Volts - ADC = 28 ' Values In between the ranges will be interpolated using a straight line. ' ADC Value is based on a reference voltage of 5.00 Volts ' ' myke predko ' ' 05.08.25 ' ' Pin 0 - ADC0804 CS Pin (Output) ' Pin 1 - ADC0804 RD Pin (Output) ' Pin 2 - ADC0804 WR Pin (Output) ' Pin 15-8 - ADC0804 Data Pins ' '{$STAMP BS2} '{$PBASIC 2.5} ' Variable Temp x Slope ZeroPoint y CS RD WR Declarations VAR Byte VAR Word VAR Word VAR Word VAR Word PIN 0 PIN 1 PIN 2
30.2 NONCONTACT NEAR-OBJECT DETECTION
Initialization HIGH CS HIGH RD HIGH WR Main Loop DO LOW CS LOW WR HIGH WR HIGH CS LOW CS LOW RD x = INH HIGH RD HIGH CS
No Operation
' ' '
Loop Forever Start ADC Operation Low on WR Starts Operation
' ' '
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