sysu机器人课程课件.ppt

第二讲 What is sensor? DFR0026 Analog Ambient Light Sensor Type: Analog Detects ambient light density Works with Cds Photoresisitor Output: Analog 0~5V Voltage: 3V~5V Interface with micro controllors and logic circuits Standard 3-pin PCB connector Phototransistor theory Phototransistor theory—collector/emitter path of transistor acts as current source, with amount of current controlled by light received. Current is passed through resistor, causing voltage drop based on Ohm’s Law. Voltage drop is measured by 10-bit resolution analog-to-digital converter on Arduino. Connect Ambient Light Sensor Connect to analog input 0 Test using File:Examples:Basics:AnalogReadSerial Click on Serial Monitor icon (right-most in top bar) How can you make the data easier to read? How do the values change with light? Cover it, hide it, point it towards the window 实验二：Night Light（3pts） Make a nightlight that turns on when light is low and off when the room gets brighter. You set the threshold of light/dark Only need one threshold, but you can do more clever things, especially if you want to use more lights. SEN0017 Line Tracker Sensor Type: Digital Output: HIGH White / TTL LOW Black / TTL Range: 1cm Voltage: +5V Current: 10mA 3-wire output interface DF-miniLTV3.0是根据红外线反射原理（深色反射弱，浅色反射强）开发出来的。DF-miniLTV3.0是单组检测探头，可以帮助进行白线或黑线的跟踪。黑线，指示灯灭，TTL低电平；白线指示灯亮，TTL高电平。 SEN0019 Infrared Sensor Switch Type: Digital Output: HIGH no obstacles LOW has obstacles Adjust: Back adjuster Range: 3~80 cm Voltage: 5V VCC, GND, OUTPUT 红外开关通常由一个红外发射装置和一个红外接装置组成，其工作原理是利用被检测物体对红外光束的遮光或反射，来检测是否有物体存 在。根据检测方式的不同，最常用的红外开关有漫反射式、镜反射式和对射式几种。 漫反射红外开关是一种集红外发射器和红外接收器于一体的传感器，当有被检测物体经过时，将光电开关发射器发射的足够量的光线反射到接收器，就能够产 生相应的动作。由于受被检测物体对红外线的反射率的影响，虽然漫反射红外开关安装时非常容易，但通常却是感应距离最近的红开关传感器。 镜反射式红外开关虽然也是集发射器与接收器于一体，但光电开关发射器发出的光线经过的是专用的反射镜而不是被检测物体反射回接收器，当被检测物体经 过且完全阻断光线时，光电开关就产生了相应的动作。镜反射红外开关在实际使用中的检测距离比漫反射红外开关要远计多，但由于需要多安装一个专用的反射镜， 对现场安装环境有一定的要求。 对射式红外开关包含在结构上相互分离且光轴相对放置的红外发射器和红外接收器，发射器发出的光线直接进入接收器。当被检测物体经过发射器和接收器之间且阻断光线