Guide

5 ROBOTICS ADVENTURE BOOK  SCOUTER MANUAL  STEM
Overview of Robot Electronic Controls
Inputs
Inputs are used to obtain information about the world. In this robot, inputs include analog values from the wheel
encoders and the various instrumentation sensors (moisture, hydrocarbon, and proximity):
• Pin 0 – right track optical encoder (to measure distance)
• Pin 1 – left track optical encoder (to measure distance)
• Pin 2 – infrared sensor (to detect proximity to an object)
• Pin 3 – moisture sensor (dry, moist, very wet)
• Pin 4 – hydrocarbon sensor (to detect evidence of the molecules of life)
The analog inputs give a value between 0 and 1024 that represents a voltage between 0V and 5V. Sensors provide
voltage outputs that mean different things for different sensors; you have to read the “Data Sheet” to know exactly
what these are.
Outputs
Outputs are used to “send” information to the real world or peripheral devices. On this robot, outputs include:
• Pin 5 & 6 - Analog values (in the form of DC voltages) to the track drive motors to control their speed
• Pin 7 & 8 - Digital values (‘high’/‘low’) to control the motor drive directions
• Pin 11 - Analog value (also DC voltage) for positioning of the Servo
• Pin 12&13 – Digital values (‘high’/‘low’) to control the LEDs
Summary of Input/ Outputs
Inputs Outputs
• RightTrackEncoder • LeftTrackMotorSpeed
• LeftTrackEncoder • RightTrackMotorSpeed
• InfraredSensor(Proximity) • LeftTrackMotorDirection
• MoistureSensor • RightTrackMotorDirection
• HydrocarbonSensor • ServoMotorControl
 • BlueIndicatingLEDs
 • GreenIndicatingLEDs