27403 Parallax Inc, 27403 Datasheet - Page 112
27403
Manufacturer Part Number
27403
Description
GUIDE APP ROBOTCS W/SUMOBOT V1.0
Manufacturer
Parallax Inc
Datasheet
1.27404.pdf
(266 pages)
Specifications of 27403
Accessory Type
Manual
Product
Microcontroller Accessories
Lead Free Status / RoHS Status
Contains lead / RoHS non-compliant
For Use With/related Products
SumoBot®
Lead Free Status / RoHS Status
Lead free / RoHS Compliant, Contains lead / RoHS non-compliant
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With some creative programming, you can actually check as many QTIs as you want, and
it will only a fraction of the time that it takes to check just one QTI with the
command when it's detecting black. This activity will show you how.
The Pulse-Decay Trick
Figure 3-14 is a repeat of Figure 3-10, a schematic for what's happening inside the QTIs
after Vdd has been applied to its on/off input, P10.
Below is a routine that calibrates only the left QTI. After turning the device on by setting
P10 high, P9 is also set high, which pushes the value of V
pause, the
amount of time it takes gets stored in the
equal to 1/4 the value of the
The program could next use the
threshold time. If the decay time is greater than the threshold time, the program can
assume the QTI is detecting black. If the decay time is less than the threshold time, the
program can assume the QTI is detecting white.
HIGH 10
HIGH 9
PAUSE 1
RCTIME 9, 1, time
threshold = time / 4
RCTIME
command measures the time it takes for V
time
variable.
RCTIME
time
command and compare the decay time to the
variable. The
0
Figure 3-14
Simplified Version of
the QTI circuit
toward 5 V. After a 1 ms
threshold
0
to decay to 1.4 V. The
variable is set
RCTIME
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