NEX ROBOTICS FIREBIRD V ATMEGA 2560 Hardware Manual page 44

Sensors
Sharp IR range sensor 1 to 5
white line sensors (left,
center, right)
IR proximity sensors 1 to 8
Table 3.11: Sensor power control pins and jumpers (Assuming corresponding jumper at J1
Jumper 1 set is shown by red rectangle in figure 3.35. It consists of set of 4 jumpers. On / Off
status of the sensor is shown by 3 yellow LEDs are highlighted by blue rectangle. ON LEDs
indicate that sensor is ON. Table 3.11A shows the functions of these jumpers and corresponding
sensor power indicating LEDs.
Jumper Name
J1-1(LCD BKL)
J1-2(IRP)
J1-3(SHARP)
J4-1(WL)
Table 3.11A: Sensor power on Jumpers and LED indicators
Important
Robots are factory shipped with all jumpers inserted. So as per factory setting all sensors
•
will remain permanently ON. If you are not going to switch sensors on/off using
MOSFETs then leave jumpers as it is.
Sharp GP2Y0A02 sensors body is made up of conductive plastic. Hence foam tape is
•
added as an insulator between the sensor and the metal strip which holds the sensor in
place. If this isolation is not provided then sensor will get partially off when
corresponding MOSFET is turned off. In such case sensor will still consume power and
might give incorrect reading when sensor is turned off. To avoid this small insulator foam
is inserted between the sensor and the metal stripe which holds the sensor in place.
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA
Main board socket pin
number
33
40
34
is open)
Figure 3.35: Sensor status indicator LEDs
Function
(If jumper is inserted)
Turn on LCD back light
Turns on all 8 IR proximity
sensors
Turns on installed Sharp IR
range sensors
Turns on all white line sensors
Fire Bird V ATMEGA2560 Hardware Manual
ATMEGA2560 uC
Pin
PH3 (pin 15)
PG2 (pin 70)
PH3 (pin 14)
Sensor power Current consumption
indicating LED
name
LCD Back-light
51mA (all 8 IR proximity
IRP
SHARP 25mA per sensor installed
16mA typical for 3 channel
WL
white line sensor
Logic state
0: Sensors are turned on
1: Sensors are turned off
0: Sensors are turned on
1: Sensors are turned off
0: Sensors are turned on
1: Sensors are turned off
20mA
sensors)
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