The Sense Sensors - NeuLog Sense Autonomous Manual

10
1.1.2

The SENSE sensors

The SENSE has five wall range sensors on its perimeter and one line sensor on its
bottom, having the following names:
 Bottom sensor
 Front sensor
 Right front sensor
 Right back sensor
 Left front sensor
 Left back sensor
Each sensor is composed of an infrared (IR) LED (Light Emitting Diode) and
phototransistor (light sensor) directed outward.
When the SENSE controller receives a command to read one of the range sensors,
it lights the LED and measure the intensity of the received light.
The range sensors are based on infrared light in order to reduce the effect of the
surrounding light.
A white surface returns much more light then a black surface. Also colored
surfaces return different values. The line sensor on the bottom is based on this
effect.
Note:
The range sensors are not calibrated. The read values represent the intensity of the
received reflected IR light. For the same distance, you may get different value
from each sensor.
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Pay attention to the side range sensors. They are all at an angle of 45 . The
Tracking a Wall experiment (experiment 1.4) explains the reason for that.