User manual

RP6 ROBOT SYSTEM - 4. Programming the RP6
also watch the LEDs. And then just move your hand or an object directly in front of
the robot!
Several sources of interference are known to affect the ACS! Some
types of fluorescent lamps and similar light sources may virtually
blind the robot or at least decrease sensitivity. If you encounter such
problems you may start by deactivating all possible interfering
sources of light. (Hint: eventually you may have put the robot dir-
ectly in front of a Flatscreen, which also must be considered as a po-
tential source for problems as most of the Flatscreens use a fluores-
cent lamp as backlight... ).
Of course the detection range heavily depends on the obstacle's sur-
face. Obviously, black surfaces will not reflect the same amount of
light as bright white surfaces. The ACS may even ignore some of the
dark colored objects!
In critical situations we might prefer to support the ACS by ultrason-
ic sensors or by improved IR sensors.
Before allowing the robot to cruise around in a room you should at least perform a few
simple tests with the ACS by testing detection capability of several different objects.
Especially you could try to find out which objects FAIL to be detected properly. This
test will allow you to remove such obstacles before operating the robot... but com-
pared to the predecessor CCRP5, a failing ACS-system will not cause problems, as the
bumper will prevent damages to the IR LEDs!
4.6.7. IRCOMM and RC5 Functions
The IR receiver allows the RP6 to receive IR-
signals from standard TV/Hifi remote controls,
but this is restricted to remote controls using
the RC5 code! Most of the universal remote
controls (see fig.) may be programmed to this
code – please read the manual of your remote
control to set up the RC5 code. If RC5-code is
missing in the code table, you may simply test
several different manufacturers.
The ACS will ignore remote controls transmit-
ting RC5 signals and these will usually not in-
terfere with the ACS obstacle detection. The system will still be able to detect
obstacles, but may react slower as operation is restricted to pauses between RC5-
transmits. If a remote control does not use RC5, the ACS could get malfunctional.
A suitable software would allow the RP6 to be controlled by an IR remote control.
And the IRCOMM may be used to transmit IR Signals as well. Both transmitting diodes
at the robot's front panel are pointing upwards to the ceiling. Reflections from the ceil-
ing and other objects or direct line-of-sight, allow communication with other robots or
a base station.
Communication is relatively slow (transmitting a data packet takes approximately
20ms plus a short pause), but allows you to transmit simple commands and single
measurement values. Transmitting range is restricted to distances of about 2 up to 4
meters inside one room (depending on lighting conditions, obstacles, ceiling surfaces
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