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Cytron Technologies LSA08 User Manual

Advance line following sensor bar
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Advance Line Following Sensor Bar
LSA08
User's Manual
V1.1
June 2012
Information contained in this publication regarding device applications and the like is intended through suggestion only and
may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. No
representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the
accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or
otherwise. Use of Cytron Technologies's products as critical components in life support systems is not authorized except
with express written approval by Cytron Technologies. No licenses are conveyed, implicitly or otherwise, under any
intellectual property rights.

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Summary of Contents for Cytron Technologies LSA08

  • Page 1 It is your responsibility to ensure that your application meets with your specifications. No representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or otherwise.
  • Page 2 5.6 Multiple LSA08 to a Single Controller Getting Started 6.1 LSA08 Calibration 6.2 Setting Menu of LSA08 6.3 LSA08 default settings 6.4 Output Port 6.5 LSA08 UART Commands Warranty (6 months or 1 year) Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 3 Besides, LSA08 has LCD which displays the sensors and line information. This LCD together with setting buttons (SEL and MODE) also enables instant setting up of LSA08. Auto calibration feature of LSA08 calibrates the sensors to the line and background surface easily. Furthermore, LSA08 with special selected transmitters and receivers sensor is capable to work on reflective or glossy surface which is difficult to normal infrared (IR) sensor.
  • Page 4 Please check the parts and components according to the packing list. If there is any part missing, please contact us at sales@cytron.com.my immediately. 1. LSA08 PCB with every component soldered properly. 2. LSA08 cable connector Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 5 ROBOT . HEAD to TOE Product User’s Manual – LSA08 3. PRODUCT SPECIFICATION AND LIMITATIONS 3.1 Dimensions (mm): 45.7 127.3 Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 6 Input signal, V Input signal, V Output Signal Absolute Maximum Rating Typical Parameter Maximum Minimum Unit Operating voltage Maximum Current (I/O signal pins) Sensing distance (from board) Minimum Line width Refresh Rate Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 7 F – Port A is UART and Analog port G – Port B is digital parallel output port H – Power indicator LED (green) for indication of power supplied to LSA08. Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 8 ROBOT . HEAD to TOE Product User’s Manual – LSA08 4.2 Bottom: Pair of sensors Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 9 Product User’s Manual – LSA08 5. INSTALLATION (HARDWARE) LSA08 is powered from VIN and GND pin of either PORT A or PORT B. sections below are example of hardware connection setup for LSA08. User may use either PORT A or PORT B or both PORTs at the same time.
  • Page 10 SK40C and also the MD10C to SK40C. This sample uses the serial UART communication with LSA08 to retrieve the line position from LSA08. JPULSE connection is trivial in this case since user can retrieve the cross junction count information using UART command. The Sample source code can be downloaded from Cytron’s official website.
  • Page 11 Nylon Wheel 5.1.2 PORTA Analog: Analog pin (Pin 4) of LSA08 PORT A can be used to retrieve line position also. Voltage on this pin represents the line position. The setup connection using this method is simple. Only 3 wires connections are required i.e. VIN, GND and AN pin. If user needs to do cross junction counting, then 4 connection is required to the JPULSE pin.
  • Page 12 This method is easy but requires more wiring. LSA08’s PORT B’s output is parallel digital output. Every pin on LSA08’s Port B represents each of the sensor, where ‘1’ represents line detected and ‘0’ represent no line detected on that particular sensor.
  • Page 13 A’s UART or Port A’s Analog on LSA08 for the line position retrieval. Connection below shows Port A’s UART setup for LSA08 to MC40A. TX pin of LSA08 is connected to RX pin of MC40A and RX pin of LSA08 is connected to TX pin of MC40A for the communication.
  • Page 14 PORT A 5.2.2 PORTA Analog: Figure below shows setup of MC40A to use LSA08 Port A’s Analog for line following. JPULSE pin is for cross junction counting and is optional if the line following task does not requires the junction counting.
  • Page 15 ROBOT . HEAD to TOE Product User’s Manual – LSA08 Vin of LSA08 is connected to the VIN (12V) of MC40A. Soldering of wires to the board is needed for connecting the VIN, GND and JPULSE wire. JPULSE wire is connected to any available digital input pin for example RC0 pin in this sample.
  • Page 16 5.3 Sample connection with Interface Free Controller System (IFC) 5.3.1 Port A Analog: IFC-AI08 can be used to retrieve line position from LSA08 using analog method. Sample connection is shown in the figure below. IFC-Main Board retrieves the analog value from the IFC-AI08 and processes it to get the line position to do line following task.
  • Page 17 LSA08. The sample connection from LSA08 to IFC-DI08 is shown in the figure below. Port B of LSA08 which is the digital parallel port is used for this setup. User can choose to connect the Vin of LSA08 from any of the positive voltage 12V of IFC-DI08 sensor ports.
  • Page 18 Break out selector board jumper set to To setup a complete working IFC system for line following with LSA08, user will need: 1. IFC-Main Board (IFC-MB00), 2. IFC-Power Card (IFC-PC00), 3. IFC-Digital Input Card (IFC-DI08) or Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 19 Sample source code for simple PID controlled line following can be downloaded from Cyton’s official website (www.cytron.com.my). IFC system DC Geared Mobile Robot Base Set Battery Pack LSA08 DC Geared Motor (SPG30-20K) Nylon Wheel Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 20 Product User’s Manual – LSA08 5.4 Sample connection with MC40SE: LSA08 Connection with MC40SE is similar to other controller described previously. Following sections show the connection to LSA08 using UART, analog and digital parallel method. 5.4.1 PORT A UART: PORT A 5.4.2 PORTA Analog...
  • Page 21 LSA08’s user can choose any methods of connection or communication to retrieve the line position and information from LSA08. Figure below shows the main methods for line position or information retrieval from LSA08. Details of methods will be explained in later section.
  • Page 22 For UART communication, user is reminded to set different UART Address for each connected unit of LSA08. This is for the main controller to differentiate between each connected LSA08, since the TX and RX pin can be shared for multiple LSA08.
  • Page 23 Product User’s Manual – LSA08 5.6.2 Analog Connection: Figure below shows the connection of multiple LSA08 to a single main controller. Two analog channels on main controller are needed. Extra wiring for JPULSE pin is needed if the user needs to perform junction counting.
  • Page 24 6. GETTING STARTED 6.1 LSA08 Calibration: LSA08 need to be calibrated to retrieve the dark and bright value of the surface that it will do the line follow. Every of the sensor pairs need to be exposed to the dark and bright surface for LSA08 to read and save the value.
  • Page 25 S7 the position shown will be “70”. The line position value varies linearly from 0 to 70 according to the line detected by the sensors. If a line is at the middle of the LSA08 (S3 and S4), the LCD display will show the position as 35.

  • Page 26: Line Mode Light On

    Menu selector. Press again the MODE button to select other modes or Press and hold the MODE button to exit the Setting Menu. All the settings of LSA08 are listed in the table. Menu...
  • Page 27 Press Mode button twice will bring user to the Calibration Menu which allows user to calibrate the LSA08’s sensor to the line and background surface that it will do line following. Press SEL button to start the sensor calibration and start swing the sensor across the different colours or brightness surface.

  • Page 28: Thres

    Threshold (THRES) value of LSA08 is the number of bars shown by the bar chart on LCD which LSA08 assumes as a valid line detected. The threshold value can be set from 0 to 7 through the setting menu by using the MODE and SEL button.

  • Page 29: J_Width

    Junction Width menu is for setting the junction width of the junction, the numbers of sensors on LSA08 detect line which LSA08 will assume as a valid junction. This is special feature on LSA08 for the ease of cross junction counting. The valid Junction Width value is from 3 to 8.

  • Page 30: Baudrate

    230400 6.2.8 UARTMODE UARTMODE menu is for setting the desired data output format from LSA08 on TX pin of PORT A when UEN is pulled low. There are 4 available formats in the menu indicated by number 0 to 3. Each format is described in the table below.

  • Page 31: Lcd Bl

    LCD Backlight Menu is for the user to set suitable backlight for the LCD unit on LSA08. Current consumption of LSA08 is affected by the backlight value of the LCD. Brighter backlight will consume more current. The backlight value can be set from value of 0 to 10.
  • Page 32 This is a special mode for debug purpose. User can see the sensor raw value on LCD unit of LSA08. This mode is not shown in the setting menu. To enter this mode, press and hold the SEL button for few seconds and release. Value of 1 sensor or sensor 0 will be displayed.

  • Page 33: Table Of Contents

    B is for digital parallel output mode. User may choose to use either Port A or Port B or both. Vin and Gnd pins on both Port A and B are for providing power to LSA08. LSA08 can be powered by either Port A or B. All the pin information is labeled clearly on the back surface of LSA08’s PCB.
  • Page 34 UEN pin is not pull down and there is no UART command response from LSA08. LSA08’s RX pin is weakly pulled up. UEN pin is an active low pin which is used to enable stream of data out of the LSA08’s TX pin. AN pin of LSA08 give relative position of line detected by LSA08 in term of voltage level.
  • Page 35 Figure below shows pin defined for UART communication. UART and Analog pin shared same port which is PORT A. UART Output UART Tx Enable Junction UART Rx Pulse PORT A Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...
  • Page 36 UART output enable signal pin (UEN) is for controlling the flow of data from the LSA08 board. Data stream is sent out of the TX pin only when UEN pin is pulled low. This pin is functioning as the flow control of the UART output data. The main controller requests the data by pulling low the pin.
  • Page 37 0 to sensor 7. 5 Volt on the analog output pin represents no line detected. For example if a line is at the middle of the LSA08 which is in between sensor S3 and S4. The LCD on LSA08 will show the position as 35 and the analog pin voltage reading will be around 2.25V.
  • Page 38 The digital port consists of 8 signal pins and 2 pins for power supply to LSA08. Every signal pin represents a sensor on LSA08 board. A 5V or high digital value “1” shows line detected while a 0V or digital value of “0” shows no line detected. The User will need to process the data to determine where the line exists.
  • Page 39 6.5 LSA08 UART Commands: 6.5.1 Command Packet Format: User can send UART commands to setup and retrieve information or data from LSA08. UART Serial Communication specifications of LSA08 are shown as following: Baudrate Depending on UART baudrate setting Start bit...
  • Page 40 In order to successfully send a command to LSA08, user will need to continuously send the 4 bytes value in the packet. LSA08 will only wait for a maximum of 20ms for a continuous byte in a packet. After the wait period, LSA08 will discard the incomplete packet.
  • Page 41 If there is confusion of UART address of the LSA08, anytime the user can manually go into the LCD menu of the “UART ADD” to check for the correct address of LSA08. The correct address for the LSA08 board is important to be known if the user wants to use the UART serial communication with the board.
  • Page 42 0x00 0x44 This packet is sent to LSA08 with address of 1 to command the LSA08 to perform calibration immediately. User will need to control the robot to start rotate robot against the surfaces that it will perform line following.
  • Page 43 Command Data Checksum 0x01 0x4A 0x08 0x53 This packet will set the minimum junction width as 8 which mean that LSA08 will assume a junction is crossed if 8 sensors detected line. UART Address: ‘A’ Example packet: Address Command Data...
  • Page 44 Checksum 0x01 0x44 0x47 0x02 This packet will set LSA08’s UART data mode to mode 2 which LSA08 will send out line position through the TX pin when UEN pin is pulled low. Junction Information: ‘P’ Example packet: Address Command...
  • Page 45 Example packet: Address Command Data Checksum 0x01 0x4F 0x01 0x51 Sending this packet to LSA08 will return a byte of sensor’s digital value. MSB is sensor 7’s value and LSB is sensor 0’s value. Address Command Data Checksum 0x01 0x4F 0x02 0x52 Sending this packet to LSA08 will return a byte of relative line position detected by LSA08.
  • Page 46 Warranty does not cover freight cost for both ways. Prepared by Cytron Technologies Sdn. Bhd. 19, Jalan Kebudayaan 1A, Taman Universiti, 81300 Skudai, Johor, Malaysia. Tel: +607-521 3178 Fax: +607-521 1861 URL: www.cytron.com.my Email: support@cytron.com.my sales@cytron.com.my Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved...