Cytron Technologies LSA08 Manuale utente
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may be superseded by updates.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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Index
1.
Introduction and Overview
3
2.
Packing List
4
3.
Product Specification and Limitations
5
4.
Board or Product Layout
7
5.
Installation (hardware)
9
5.1 Sample connection with SK40C +MD10C
9
5.2 Sample connection with Mini Mobile Robot Controller (MC40A)
13
5.3 Sample connection with Interface Free Controller System (IFC)
16
5.4 Sample connection with MC40SE
20
5.5 Connection with other controllers
21
5.6 Multiple LSA08 to a Single Controller
22
6.
Getting Started
24
6.1 LSA08 Calibration
24
6.2 Setting Menu of LSA08
26
6.3 LSA08 default settings
33
6.4 Output Port
33
6.5 LSA08 UART Commands
39
7.
Warranty (6 months or 1 year)
46
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1. INTRODUCTION AND OVERVIEW
LSA08 (Advance Line Following Sensor Bar) consists of 8 sensors pair. LSA08 is
typically used for embedded system or robots for line following task. LSA08 can detect any
color of line which has brightness different with the background. LSA08 is capable to operate
on surface with color of Red, Green, Blue, White, Black, Gray and possibly other colors
which are not listed.
LSA08 has some special features which give advantages to the user. LSA08 has low
current consumption, typically around 26mA. Power polarity protection on LSA08 prevents
damage by applying reversed voltage. LSA08 provides multiple interface methods, namely
serial (UART), analog output and direct digital outputs (parallel output). LSA08 has total of 8
sensors spaced at 16mm. This minimizes the user effort of setup the sensor system for the
line following robot. 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.
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2. PACKING LIST
Please check the parts and components according to the packing list. If there is any
1. LSA08 PCB with every component soldered properly.
2. LSA08 cable connector
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3. PRODUCT SPECIFICATION AND LIMITATIONS
3.1 Dimensions (mm):
135
127.3
45.7
16
3
38
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3.2 Electrical Specifications:
Absolute Maximum Rating
Parameter
Minimum
Typical
Maximum
Unit
Operating voltage
7.5
12
20
V
Maximum Current (I/O signal pins)
20
mA
Sensing distance (from board)
1
3
5
cm
Minimum Line width
15
mm
Refresh Rate
100
Hz
Parameter
Min
Typical
Maximum
Unit
Current Consumption (12V)
25.3
25.5
130
mA
Input signal, VIH
2
5
V
Input signal, VIL
0
0.8
V
Output Signal
5
V
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4. BOARD OR PRODUCT LAYOUT
4.1 Top:
A–2x8 LCD unit to display the line information and setting menus.
B–Main controller for data processing.
C–Reserved for Manufacturing purpose.
D–SEL button is used to enter the selected mode or setting.
E–MODE button is used to select mode or setting.
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.
D
E
C
B
H
A
F
G
Label
Function
Label
Function
A
2x8 LCD display
F
Port A (UART and Analog port)
B
Main Controller
G
Port B (Digital port)
C
Manufacturing Points
H
Power LED (PWR)
D
SEL button
E
MODE button
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4.2 Bottom:
Pair of sensors
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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.
5. 1 Sample connection with SK40C +MD10C
5.1.1 PORT A UART:
SK40C can be used as the main controller for a line following task. Motor driver is
needed to drive the motors. This example uses 2 unit of MD10C to drive the left and right
motors. MD10C requires very simple control signals which are the PWM signal and
Direction signal (Sign-Magnitude PWM). PWM signal (pulse width) determines the speed of
the motors and DIR signal determines the direction of rotation of the motors.
MD40C
Motor Ports
PORTA
SK40C
LCD
LSA08
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Figures above show the schematic of the connections for the PORTA of LSA08 to
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. Figure below shows
the complete setup using DC Geared Mobile Robot Base set. All the parts needed as listed
below can be found from Cytron’s product range.
1. DC Geared Mobile Robot Base Set (HD-BSC-SPG-G), inclusive of robot base, DC
geared motors, Nylon wheels, DC motor Couplings and Castors.
2. Enhanced 40 pins PIC Start-UP kit (SK40C) with LCD (optional)
3. Enhanced 10Amp DC Motor Driver (MD10C)
Vin
GND
UEN
RX
TX
SK40C-RC5
SK40C-TX/RC6
SK40C-RX/RC7
PORT A
Indice
