Datasheet

Robot Control with Distance Detection • Chapter 8
Robotics with the BOE Shield-Bot • 265
Chapter 8 Summary
This chapter used the infrared IR LED/receiver pairs for simple distance detection, to make a
BOE Shield-Bot shadow vehicle. Now-familiar skills combined with some new concepts got
the job done:
Electronics
• Looking at the IR receiver’s peak sensitivity
• Exploiting the IR receiver’s sensitivity curve properties with a frequency sweep
to detect distance
• Changing series resistor values to match up the sensitivity of two IR LED receiver
pairs—making an adjustment in hardware
Programming
• Writing a routine with an indexing for loop to generate a frequency sweep
• Writing a sketch that uses proportional control loops
• Using
const int to set up a proportional control loop’s set point and
proportionality constants
• Changing a control loop’s proportionality constants to fine-tune the control
system—making an adjustment in software
• What sampling rate and sampling interval are, and how they relate to each other
Robotics Skills
• Setting up a closed-loop proportional control system with a processor, sensors
and actuators for autonomous shadow vehicle navigation
Engineering Skills
• Reading a block diagram for a simple closed loop proportional control system,
with a summing junction and operator blocks
• Understanding and using a closed loop control system’s set point, error,
proportionality constant, and output value
• More subsystem testing and troubleshooting
Chapter 8 Challenges
Questions
1. What would the relative sensitivity of the IR detector be if you use tone to send a
35 kHz signal? What is the relative sensitivity with a 36 kHz signal?
2. What keyword is used to declare a constant?