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A Lego robot show double rotation sensor principle

2014-11-13 13:23  
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This article describes a Lego robot double rotary sensor principle show. Please read schematic diagrams to combine.

rotation Lego Mindstorms Double Rotation Sensor

I usually use an electric motor is used for the left wheel and a right wheel. The problem is that the motor is never a perfect match and I RCX end up in circles. I want to buy tw1o rotation sensor tracking two rotation axes. However, this will consume tw1o sensor ports, leaving only one for my other sensors. The use of crazy glue, hot glue (colorful if possible) and the heat pipe is certainly needed. I just install it into RCX and robots really walk in a fairly straight line.

double rotation Lego Mindstorms Double Rotation Sensor

I used phototransistors and infrared LED. I built the Lego box and the beam but found space betw1een pulley hole is smaller than the hole diameter pulleys. I think a better waveform will happen if I reduce the region's caves. So I stuck a small plastic "staring eyes" (kind of seeing stone pet), full-diameter pulley hole betw1een hole (6). I also use a half of Bush technically smooth shaft holding round turn-bit. Then I enlarged the hole to allow the beam infrared LED diodes and adaptation, the use of hand-held drill (1/4 "). Only need to drill, you want a small flange to help seat the LED and phototransistors.

wheel Lego Mindstorms Double Rotation Sensor

You have to hot glue them. I made ??my tw1o sensor module mirroring. I used silver colored adhesive (I bought at the craft store) to keep light from entering and interfering with the sensor readings.

holes Lego Mindstorms Double Rotation Sensor

Sensor power supply I put together from the torque sensor LM324  ideas and 4066. This is a schematic view, which I have not shown the integrated circuit power connection. My infrared LED inequalities so a current limiting resistor and the other is 5.5 k 9.1 k. I adjust this resistor (R8) using an oscilloscope and trim pot to make a perfect square wave output shaft is rotated while the motor is running full RCX powers, ~ 330 RPM.

electronics Lego Mindstorms Double Rotation Sensor

I found that the left and right of the sensor module will continue when spinning ~ 330 RPM and no "cross-border" interference betw1een the left and right channels. Then I put the biggest thing perforated plate used in a Lego (Znap) 9 v battery holder, I remove the battery connections provide more space. Of course, Lego driver requires programming an electronic sensor to be tested. First, I made ??a small program to read the original value of the four states. The driver, fake is FF80, for C0C0, left AB80 and two 8 cc0. I >> use the original 13 to make reading in the range 0 - 7 Therefore, the "Close" became seven, on 6, 5 and 4 two left. You want to make a small program to check their original records and enter the number in the program. Note that these figures I used to make programming easier (see the driver).

sensor module Lego Mindstorms Double Rotation Sensor