RoboCup

Sensor Segue Linha para NXT ou EV3 (LineLeader-v2)

O sensor Segue Linha é um array de 8 sensores com controlada fonte de luz, retornando valores do sensor para seguir linhas, superfícies com cores diferentes, etc.

 

 

 

  • Fácil de montar no NXT ou EV3
  • Detecte padrões para claro e escuro usando 8 sensores de luz
  • Detecte e siga linhas
  • Controle PID pré programado

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Array de Sensor de Luz para NXT

Esta é uma matriz de 8 sensores com fonte de luz controlada, retornando os valores das leituras dos sensores. Seu programa pode então decidir se deseja seguir uma linha ou fazer outra coisa. Para seguir linha, por outro lado, recomendamos o Sensor Segue Linha para NXT ou EV3 (LineLeader-v2)

 

 

 

  • Fácil de montar no NXT ou EV3
  • Detecte padrões para claro e escuro usando 8 sensores de luz
  • Detecte e siga linhas

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Bola de Infravermelho HiTechnic (IRB1005)

A nova Bola de Infravermelho da HiTechnic é perfeita para jogar futebol de robôs ou para ser usada como um objeto a ser caçado. A bola bem balanceada oferece 20 LEDs de infravermelho, dando cobertura total de sinal, além de ser compatível com o padrão da RoboCup Jr. A bola pode também pode operar em modo modulado (com pulsos), que é o padrão da RoboCup Jr. antiga. Dois modos adicionais, 1200 Hz e 600 Hz, dão a possibilidade de aumentar o alcance do sinal (de 5 metros ou mais). Os sinais IR modulados por pulso tornam a bola mais fácil de ser detectada em ambientes com pouco iluminação, uma grande vantagem em relação as versões anteriores. O modos pulsado também aumenta o tempo de vida das baterias.

Para detectar a bola recomendamos o IR Seeker V2

 

Especificações:

  • Dimensão: 75 mm (diâmetro)
  • Baterias: 4 AAA (não incluídas)
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IRSeeker V2

Play robot soccer and zero in on your infrared (IR) beacons with the new and enhanced IRSeeker V2 (Version 2). You can use most TV remotes and LEGO® Power Functions remotes as beacons that the IRSeeker V2 will detect. With a specially designed curved lens and five internal detectors, the IRSeeker V2 has a 240 degree view making it perfect for playing robot soccer with the HiTechnic IRBall. The IRSeeker V2 has enhanced modes that detect modulated IR signals, including the new RoboCup Jr stepped modulated mode, and it filters out background signals giving superior performance in brightly lit rooms and sunny locations. The sensor returns the signal direction and strength making it easy to locate and gauge the relative distance to the target. A winning robot soccer combination when combined with the HiTechnic NXT Compass Sensor!

HiTechnic NXT IRSeeker V2 Sensor for LEGO Mindstorms NXT

Introduction

IRSeeker V2

The NXT IRSeeker V2 (Version 2) is a multi-element infrared detector that detects infrared signals from sources such as the HiTechnic IRBall soccer ball, infrared remote controls and sunlight. It is perfect for robot soccer competitions.
The IRSeeker V2 operates in 2 selectable modes,

Modulated (AC) Mode - The sensor will detect modulated IR signals such as those from the HiTechnic IRBall or some IR remote controls. In Modulated mode the sensor will filter out most other IR signals to decrease interference from lights and sunshine for example. The sensor is tuned to square wave signals at 1200Hz.
Un-modulated (DC) Mode - The sensor will detect un-modulated IR signals such as older style IRBalls or sunlight. 

IRSeeker V2

 

The IRSeeker V2 uses advanced digital signal processing techniques to filter the signals received and select only the signals required. A newly designed housing with a constant radius curved end cap increases directional peformance by minimizing distortion of light signals entering the sensor.

 

 

 

 

The IRSeeker direction values are shown here with 1 indicating the infrared target is left and behind, 5 if the target is directly ahead and 9 if the target is to the right and behind. A value of 0 is returned if no signal is detected.

 

 

 

 

 

Programming

Mindstorms NXT-G

All IRSeeker V2 functions can be accessed using the MINDSTORMS NXT-G programming block that can be downloaded from the download page.

IRSeeker Sensor Block

Display Settings

Image of block

  1. The number shows which of your NXT's ports are connected to the IRSeekerV2. You can change this number in the configuration panel if you need to.
  2. The block's data hub will open automatically when the block is placed in the work area. At least one data wire must be dragged from the block's output plug to another block's data hub. (See the Data Hub section below for more information.)

Configuring the IRSeekerV2 Block

Image of configuration panel

  1. Choose the port where your IRSeekerV2 is plugged in. By default, the block will be set to port 1 for an IRSeekerV2. You can change this selection if you need to.
  2. Chose the Mode. Two modes are available Modulated (AC) and Un-modulated (DC).

Modulated (AC) Mode - The sensor will detect modulated IR signals such as those from the HiTechnic IRBall or some IR remote controls. In Modulated mode the sensor will filter out most other IR signals to decrease interference from lights and sunshine for example. The sensor is tuned to square wave signals at 1200Hz.
Un-modulated (DC) Mode - The sensor will detect un-modulated IR signals such as the older style IRBall or sunlight.

IRSeekerV2 block Data Hub plugs

You must click on the Data Hub to open it as shown.

Image of block

  1. This plug wires the number of the port that the IRSeekerV2 is connected to.
  2. This plug outputs the direction value.
  3. This plug selects the mode the sensor is operating in, 0 = Modulated Mode (AC), 2 = Un-modulated (DC) mode.
  4. This plug outputs the source detected logical value.
  5. This plug outputs the Channel 1 signal strength value.
  6. This plug outputs the Channel 2 signal strength value.
  7. This plug outputs the Channel 3 signal strength value.
  8. This plug outputs the Channel 4 signal strength value.
  9. This plug outputs the Channel 5 signal strength value.

The five strength values available make it possible to determine the approximate distance to the infrared source if it is of a known brightness. The five strength values come from five infrared sensors which are oriented to face in the 1, 3, 5, 7 and 9 directions. Internally, the sensor will interpolate the readings between these five primary directions to obtain the direction values 2, 4, 6 and 8.

So if you want to obtain the strength for each of the 9 directions, you should use;

Direction Strength Source
1 Channel 1
2 Channel 1 and 2
3 Channel 2
4 Channel 2 and 3
5 Channel 3
6 Channel 3 and 4
7 Channel 4
8 Channel 4 and 5
9 Channel 5

Notes:

  • Using infrared remote control as a signal source: Most remote controls will be detected by the IRSeekerV2 in AC mode but some remotes may not be detectable, depending on the signal generated. The IRSeekerV2 is tuned to detect a 1200Hz square wave.
  • The new IRSeeker requires the new V2 version NXT-G programming block that can be downloaded from the download section of our web site.
  • NXT Firmware version 1.05 or later must be loaded in the NXT for the IRSeeker V2 and other digital I2C sensors to operate correctly. You can check the firmware version by displaying the NXT Window in the Mindstorms software.

IRSeeker V2 Sensor Register Layout

Address Type Contents
00 – 07H chars Sensor version number
08 – 0FH chars Manufacturer
10 – 17H chars Sensor type
41H byte Mode
42H byte DC Direction ( 0 - 9 )
43H byte Sensor 1 DC signal strength
44H byte Sensor 2 DC signal strength
45H byte Sensor 3 DC signal strength
46H byte Sensor 4 DC signal strength
47H byte Sensor 5 DC signal strength
48H byte Sensor DC mean
49H byte AC Direction Data (0 - 9)
4AH byte Sensor 1 AC signal strength
4BH byte Sensor 2 AC signal strength
4CH byte Sensor 3 AC signal strength
4DH byte Sensor 4 AC signal strength
4EH byte Sensor 5 AC signal strength

 

The I2C address of the IRSeeker V2 sensor is 0x10.

Other Programming Environments

NXC Programming

Current version of NXC include api functions for reading the HiTechnic IRSeeker V2. Functions include:

  • SensorHTIRSeeker2DCDir
  • SensorHTIRSeeker2ACDir
  • SetHTIRSeeker2Mode
  • ReadSensorHTIRSeeker2AC
  • ReadSensorHTIRSeeker2DC

For a complete list of HiTechnic API supported by NXC, please refer to the HiTechnic API page of the online NXC Programmer's Guide.

RobotC

All IRSeeker V2 features are available in RobotC using the functions provided by the drivers pack available under RobotC below.

Downloads

HiTechnic Enhanced IRSeekerV2 Block

This is a new block for the IRSeekerV2. The block uses a combination of AC and DC modes for improved short range direction and signal strength determination without sacrificing long range performance.

Description Version Release Date Size
NXTIcon HiTechnic Enhanced IRSeekerV2 Block 1.0 June 14th, 2011 194.74 KB Download Now
HiTechnic IRSeekerV2 Sensor Block for Mindstorms NXT Software

This NXT-G block supports the new IRSeekerV2 (Version 2) Sensor. The IRSeekerV2 has enhanced features to detect modulated and un-modulated IR signals. This block provides features enabling access to the direction and relative strength of an infrared signal.

Description Version Release Date Size
NXTIcon HiTechnic IRSeekerV2 Sensor Block for Mindstorms NXT Software 1.0 May 7th, 2009 176.46 KB Download Now
Enhanced IRSeekerV2 Sample Programs

Two NXT-G sample programs for the Enhanced IRSeekerV2 block. ViewEIRSeeker simply displays the values from the sensor on the NXT screen while MoveEIRSeeker drives the robot toward the IR source.

Description Version Release Date Size
NXTIcon Enhanced IRSeekerV2 Sample Programs 1.0 June 24th, 2011 211.33 KB Download Now
Enhanced IRSeekerV2 Function

The HTEnhancedIRSeekerV2 function implements the same algorithm as the Enhanced IRSeekerV2 Block. This function uses both AC and DC modes for enhanced short range IR direction determination and signal strength. Ideal for WRO Football Robots.

Description Version Release Date Size
NXC Enhanced IRSeekerV2 Function 1.0 June 23rd, 2011 1.40 KB Download Now
FTC Update For LabVIEW 2009

LabVIEW 2009 VIs and sample program VIs for the sensors commonly used by FTC teams. This set includes VIs for the Acceleration, Compass, Gyro, IR Seeker V2, and Magnetic Sensors as well the Touch Sensor Multiplexer. These VIs support the HiTechnic Sensor Multiplexer. See included readme.txt file on how to install into LabVIEW 2009.

Description Version Release Date Size
LabView FTC Update For LabVIEW 2009 1.0 October 6th, 2010 261.37 KB Download Now
IR Seeker V2 Sensor VIs For LabVIEW2009

IR Seeker V2 Sensor VIs and sample program VI for LabVIEW 2009. Supports the HiTechnic Sensor Multiplexer. See included readme.txt file on how to install into LabVIEW 2009.

Description Version Release Date Size
LabView IR Seeker V2 Sensor VIs For LabVIEW2009 1.0 October 7th, 2010 80.07 KB Download Now
IRSeeker VI

LabVIEW VI for the HiTechnic IRSeeker.
Note: This vi is designed for LabVIEW 7.1 with NXT Toolkit.

Description Version Release Date Size
LabView IRSeeker VI 1.0 April 2nd, 2009 47.82 KB Download Now
HiTechnic IRSeeker Sensor Block (beta)

This sensor block will replace the current V1 and V2 IRSeeker sensor blocks. This block has a mode selector that lets you choose between three V2 modes (AC 1200Hz, AC 600Hz, and DC) as well as V1 sensor mode.

Description Version Release Date Size
NXTIcon HiTechnic IRSeeker Sensor Block (beta) 2.0beta June 14th, 2011 203.83 KB Download Now
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NXT Compass Sensor

Expand your NXT experiences with the new NXT Compass Sensor and add accurate navigation to your Mindstorms® NXT projects. The NXT Compass Sensor is a digital compass that measures the earth's magnetic field and outputs a value representing the current heading. The magnetic heading is calculated to the nearest 1° and returned as a number from 0 to 359. The NXT Magnetic Compass Sensor updates the heading 100 times per second. The Compass Sensor operates in two modes, Read mode and Calibrate mode. In Read mode, the current heading is calculated and returned each time to the NXT program executes a read command. In Calibrate mode the compass can be calibrated to compensate for externally generated magnetic field anomalies such as those that surround motors and batteries, thereby maintaining maximum accuracy.

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Vision Subsystem v4 for NXT

 

This Vision Subsystem has realtime image processing capability to detect and track line or upto 8 colorful objects.

  • Connects to NXT on a sensor port
  • Connects to computer using USB interface
  • Tracks line or upto 8 objects (with 8 different user defined colors) at 30fps
  • Adjustable lens focus
  • Lens with built in infrared blocking filter
  • Provides realtime tracking statistics to NXT
  • Power consumption: 42 mA (max) at 4.7V
  • PC not needed for autonomous operation on NXT
  • Supported environments: NXT-G, RobotC, LeJOS, NXC, LabVIEW, LVEE

Note: Using NXTCam requires fair amount of programming expertize and analytical skills.

 

download NXTCam_v3p0.zip 876.05 KB 01/25/2010 Download
download FTDIUSBSerialDriver_v2_2_14.dmg 419.16 KB 01/29/2010 Download
download NXTCam-v2-User-Guide.pdf 746.67 KB 12/07/2009 Download
download datasheet-ov6620.pdf 327.79 KB 04/17/2009 Download
download NXTCam-v3-User-Guide.pdf 719.69 KB 10/04/2011 Download
download NXTCam-v3-Colormap-Reference.pdf 642.72 KB 05/25/2010 Download
Also applicable for NXTCam-v4
download NXTCam-v4-User-Guide.pdf 1.18 MB 04/02/2012 Download
download NXTcam.zip 1.33 MB 11/14/2011 Download
download nxtcam-default-nxc.zip 10.87 KB 06/22/2012 Download
download colormap-read_and_write.zip 2.43 KB 05/25/2010 Download
download NXTCam_line_follower.zip 912.68 KB 08/01/2009 Download

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