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What does the IR sensor read for two (2) beacons?
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Author:  Cyks [ Mon Feb 02, 2015 6:10 am ]
Post subject:  What does the IR sensor read for two (2) beacons?

Hello everyone,

As probably most of the people participating in this season's challenge know, there are two IR beacons on the center field structure.

Does anyone know what the sensor reads when two beacons are present? Thank you for your help! :biggrin:

Author:  MHTS [ Mon Feb 02, 2015 6:32 am ]
Post subject:  Re: What does the IR sensor read for two (2) beacons?

If you park at the right spot, you should be able to see only one beacon.

Author:  Cyks [ Mon Feb 02, 2015 6:43 am ]
Post subject:  Re: What does the IR sensor read for two (2) beacons?

Yes we are aware that the CFS will block the beams of the beacons in some positions. We need to know what the sensor will read if two beacons are visible by it though. (as we only have one beacon lol) :)

Author:  MHTS [ Mon Feb 02, 2015 6:50 am ]
Post subject:  Re: What does the IR sensor read for two (2) beacons?

Cyks wrote:
Yes we are aware that the CFS will block the beams of the beacons in some positions. We need to know what the sensor will read if two beacons are visible by it though. (as we only have one beacon lol) :)

That value depends on how you position your IR seeker on the robot. We have two teams this year. One of our robots read 7, 8 and 9 and the other reads 1, 2 and 3.

Author:  Cyks [ Mon Feb 02, 2015 7:03 am ]
Post subject:  Re: What does the IR sensor read for two (2) beacons?

MHTS wrote:
Cyks wrote:
Yes we are aware that the CFS will block the beams of the beacons in some positions. We need to know what the sensor will read if two beacons are visible by it though. (as we only have one beacon lol) :)

That value depends on how you position your IR seeker on the robot. We have two teams this year. One of our robots read 7, 8 and 9 and the other reads 1, 2 and 3.

Will the sensor detect say, 7 AND 8, or 1 AND 3? Or would it maybe rapidly switch back and forth between 7 and 8, or 1 and 3?

Like if you ran the following code:

#pragma config(Hubs, S1, HTMotor, HTServo, HTMotor, HTMotor)
#pragma config(Sensor, S4, IRSensor, sensorHiTechnicIRSeeker1200)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

#include "hitechnic-irseeker-v2.h"

task main()
{
while (true)
{
displayBigTextLine(0, "dir %d", IRSensor);
}
}

What would the NXT display read if the IR sensor could see both beacons? :P

Author:  MHTS [ Mon Feb 02, 2015 7:08 am ]
Post subject:  Re: What does the IR sensor read for two (2) beacons?

For our robots, we only see one beacon. So it is stable at a value depending on the position of the center goal. I suspect if the IR seeker sees two beacons, it will probably report the direction with the strongest signal because I remember during competition when we put our robot in the test field, the robot turned towards me because the beacon in my pocket was accidentally turned ON and I was standing right next to the robot so it ignores the beacon on the field and turned to me.

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