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A Wide Variety of Sensors can be Used to enhance the operation of the Robot
Primarily used in the Offensive Mode but are
also used in Defensive Operations as an Environment Monitor (e.g., Something’s Coming)
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• Photoelectric Sensor • Shaft Encoder Sensor • Yaw Rate Gyro Sensor • 3-‐Axis Accelerometer Sensor • Ultrasonic Detector Sensor • Gear Tooth Sensor • Misc Pneumatic Sensors Also joysticks and video cameras could be considered sensors
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Use to determine distance to friend or foe. Good from about 8 inches to 20 feet Suggest using a software filter to smooth the data
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Operates at 42kHz with readings every 50ms
Yaw Rate Gyro Senses angular changes about the top surface axis of the device and provides an output voltage proportional to the instantaneous angular rate change. The output is useful for guidance, stability, rate of closure and control of the robot platform. Inertial guidance Especially useful in designing “smart” Autonomous software
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Best to mount flat near the robot’s center of rotation
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Knowing the instantaneous robot angle and distance traveled at that angle, the position on the field can be determined.
Hall Effect sensor used for detecting and counting magnetic fields from ferrous gear teeth related to a robot’s drive operations. For example, it can count teeth on a gear to measure and, through the RC, control robot speed.
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Use counter VIs for analysis.
Use to determine rate of closure, count events (wheel rotations), monitor chain health Used in conjunction with the counter VIs Mostly located on a gear box or a motor
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Two types: • Reflective – A light beam is reflected off an object and that reflection detected by a photo sensitive device • Transmissive (Beam Break) – A light beam is interrupted by an object Use to determine the presence or absence of objects (balls, etc)
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Essentially a sensor that provides for a User interface to the control system Two types of data: • Robot direction control (Forward, reverse, turning) • Up to 12 User defined switches (Program modifications, belt controls, etc.) Uses USB connections and can have up to 4 joysticks: • In Tank mode, 2 joysticks are needed • In Arcade mode, one joystick is needed • If switches are required, a joystick is a simple way to control belts and other robot motors, relays, solenoids, etc.
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Dennis C. Erickson - [email protected]