Datasheet

Navigating with Infrared Headlights • Chapter 7
Robotics with the BOE Shield-Bot • 229
one of its buttons. If the BOE Shield-Bot responds by sounding the alarm, you
know your IR interference sniffer is working.
/*
* Robotics with the BOE Shield - IrInterferenceSniffer
* Test for external sources of IR interference. If IR interference is
* detected: Serial Monitor displays warning, piezospeaker plays alarm,
* and indicator lights flash.
*/
void setup() // Built-in initialization block
{
tone(4, 3000, 1000); // Play tone for 1 second
delay(1000); // Delay to finish tone
pinMode(10, INPUT); // Left IR Receiver
pinMode(3, INPUT); // Right IR Receiver
pinMode(8, OUTPUT); // Left indicator LED
pinMode(7, OUTPUT); // Right indicator LED
Serial.begin(9600); // Set data rate to 9600 bps
}
void loop() // Main loop auto-repeats
{
int irLeft = digitalRead(10); // Check for IR on left
int irRight = digitalRead(3); // Check for IR on right
if((irLeft == 0) || (irRight == 0)) // If left OR right detects
{
Serial.println("IR interference!!!"); // Display warning
for(int i = 0; i < 5; i++) // Repeat 5 times
{
digitalWrite(7, HIGH); // Turn indicator LEDs on
digitalWrite(8, HIGH);
tone(4, 4000, 10); // Sound alarm tone
delay(20); // 10 ms tone, 10 between tones
digitalWrite(7, LOW); // Turn indicator LEDs off
digitalWrite(8, LOW);
}
}
}
Your Turn – Testing for Fluorescent Lights that Interfere
 Disconnect your BOE Shield-Bot from its programming cable, and point it at any
fluorescent light near where you plan to operate it.
 Especially if you get frequent alarms, turn off that fluorescent light before trying
to use IR object detection under it.