Datasheet

Page 120· Applied Robotics with the SumoBot
You will see that TestSideIrObjectDetectors.bs2 is just a modified version of
TestFrontIrObjectDetectors.bs2. Different
PIN directives for the side mounted IR LEDs
and receivers are declared, likewise for bit variables that store the IR receivers' output
states. All of these different names are also updated in the
FREQOUT commands,
IF...THEN statements, and so on.
Figure 3-19 shows the detection pattern for the side mounted IR object detectors. For
best chances of detection, the object should be facing the beam, not at an angle to it.
Figure 3-19
Object Detection on
the Sides
√ Enter, save, and run TestSideIrObjectDetectors.bs2.
√ Make sure the side mounted IR detectors are not pointing at any nearby objects.
They may be quite sensitive, detecting white walls up to 1 or even 2 meters
away.
√ Verify that each object detector displays a 0 when an object is not detected.
√ Place the other SumoBot in the IR detectors beam at a distance of 10 cm. Verify
that it causes the Debug Terminal to display a 1 instead of a 0, indicating that the
SumoBot has been detected on that side.
√ If the IR detector circuits are not functioning as expected, repeat the trouble-
shooting steps in this chapter's Activity #1.