robot_sensors

robot_sensors - Robot Sensors & Actuators Institute for...

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CS 1 with Robots Institute for Personal Robots in Education (IPRE)
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Aug 29 2007 2
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Aug 29 2007 3 IR Obstacle Sensors The Scribbler has two IR obstacle sensors (under the light sensors) that return a binary value of 0 or 1. The robot actually has 1 IR receiver located in the center, and two emitters located on the left and right side of the emitter.
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Aug 29 2007 4 IR Obstacle Sensors Return value of: 0 – IR light is bouncing back to the receiver (off of an obstacle)
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Aug 29 2007 5 IR Obstacle Sensors Return value of: 1 means that infrared light is not bouncing back to the receiver, so nothing is in front of the emitter/detector.
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Aug 29 2007 6 IR Obstacle Sensors getIR() returns a list of two items [1,1]. You can also call getIR(“left”) to get just the left sensor, and similarly with getIR(“right”). The function also accepts 0 and 1 as the parameter to select which sensor value to return.
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Aug 29 2007 7 Light Sensors (3) The scribbler has 3 light sensors pointing Left, Center and Right on the same side as the getIR sensors. [45, 200, 430] = getLight()
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Aug 29 2007 8 Light Sensors (3) Light sensor values range from 0 to 5000. Zero is very bright, 5000 is full dark. getLight() returns a list of all 3 values. getLight(“left” / “center” / “right”) or getLight(0/1/2) selects one value
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9 Internal Scribbler Sensors getBattery() - returns battery voltage getStall() - returns stall condition (0 or 1) This value changes to a 1 when the motors are working extra hard (possibly due to the robot hitting something and being unable to turn the wheels) Note that it takes a half second to re-set the stall sensor once the motors are turned off, so wait a bit before sampling it agian. getName() - returns the robot's name (can be changed
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robot_sensors - Robot Sensors & Actuators Institute for...

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