1. GraffitiBot Sensor Report Andy Kobyljanec EEL 5666C March 25, 2008

2. Sensor Introduction Sensors gather information from the environment for the robot Two functional categories of sensors: – Navigational: Find relative location of obstacles to avoid Sharp IR Distance Sensors, Bump Switches – Task: Help robot complete its functions CdS Cells, IR Sensors

3. Navigation Sensors Sharp IR Distance Sensor Object avoidance 2-3 sensors mounted on robot Bump Switch Detect Collisions One on each side of robot

4. Sharp IR Distance Sensor Uses IR pulses to find distance of object in range Uses angle of incoming beam to find range Rated for ranges from 1.5” to 12”, but objects over 15” away somewhat accurately Voltage converted back to range via calculated function:

5. Bump Switches Momentary switch – default position is open When pushed, switch closes the circuit and microcontroller detects a collision

6. CdS Cells Commonly available, cheap Resistor that changes value based on light detected Will be used to detect colors on ground