Datasheet

Chapter 7 • Navigating with Infrared Headlights
226 • Robotics with the BOE Shield-Bot
Testing the System
There are quite a few components involved in this system, and this increases the likelihood
of a wiring error. That’s why it’s important to have a test sketch that shows you what the
infrared detectors are sensing. Use this sketch to verify that all the circuits are working
before unplugging the BOE Shield-Bot from its programming cable.
Example Sketch – TestBothIrAndIndicators
 Reconnect the programming and power cables, and set the Power switch to 1.
 Create, save, and run the sketch TestBothIrAndIndicators.
 Verify that the speaker makes a clear, audible tone after the sketch loads.
 Use the Serial Monitor to verify that the Arduino still receives a zero from each IR
detector when an object is placed in front of it.
 Verify that when you place an object in front of the left IR detector, the left (pin 8)
red LED lights up.
 Repeat that test for the right IR detector and pin 7 LED.
/*
* Robotics with the BOE Shield – TestBothIrAndIndicators
* Test both IR detection circuits with the Serial Monitor. Displays 1 if
* the left IR detector does not detect an object, or 0 if it does.
* Also displays IR detector states with indicator LEDs.
*/
void setup() // Built-in initialization block
{
tone(4, 3000, 1000); // Play tone for 1 second
delay(1000); // Delay to finish tone
pinMode(10, INPUT); pinMode(9, OUTPUT); // Left IR LED & Receiver
pinMode(3, INPUT); pinMode(2, OUTPUT); // Right IR LED & Receiver
pinMode(8, OUTPUT); pinMode(7, OUTPUT); // Indicator LEDs
Serial.begin(9600); // Set data rate to 9600 bps
}
void loop() // Main loop auto-repeats
{
int irLeft = irDetect(9, 10, 38000); // Check for object on left
int irRight = irDetect(2, 3, 38000); // Check for object on right
digitalWrite(8, !irLeft); // LED states opposite of IR
digitalWrite(7, !irRight);
Serial.print(irLeft); // Display 1/0 no detect/detect
Serial.print(" "); // Display 1/0 no detect/detect
Serial.println(irRight); // Display 1/0 no detect/detect