Integrated BOM

UPDATED: 10-09-2010 to match rev5 hardware

Hardware

Using TV remote hardware - has excellent filtering to reject noise from fluorescent lights, other equipment etc.
  • Permits us to interact with other IR hardware
    • Control a TV (Scout as a portable remote)
    • Use a universal remote as a joystick
    • IrDA data transfer from computers and PDAs

Driver code on ATMega128RFA1.

Transmitter

  • TSAL6200 - recommended
    • Supply Current: 100mA
    • Viewing Angle: +/-17 deg (angle of half intensity)
    • Peak Wavelength: 940nm
    • Radiant Intensity = 500 mW/sr
    • Recommended in receiver datasheet

Receiver

  • TSOP1138 - what we are using
    • Supply Current: 0.45mA
    • Transmission Range: 45m
    • Peak Wavelength: 950nm
    • Directivity: +/-45deg
  • TSOP4838 - what we currently have on the electronics shelf
    • Supply Current: 1.1mA
    • Transmission Range: 45m
    • Peak Wavelength: 950nm
    • Directivity: +/-45degrees

Central Concepts

  • Build the BOM into the board to free up physical space above the robot
  • Achieve communication between BOM IR sensors

Protocol

  • Specialized version of the Sharp protocol @ 38kHz
  • First 6 data bits: Robot ID (64 possible values)
  • Last 2 data bits: Emitter Position (4 possible values)
  • 1ms per 0 bit, 2ms per 1 bit, 13 bits per broadcast, 13-26ms per transmit cycle (per channel)
  • 40ms delay between same command (we will broadcast the 4 channels round robin to conserve power @ any instant)

SensorReview04.pdf - A Scalable, On-Board Localisation and Communication System for Indoor Multi-Robot Experiments (1.17 MB) James Kong, 10/13/2009 05:41 am

McLurkin-SM-MIT-2004_72dpi_.pdf - Stupid Robot Tricks: A Behavior-Based Distributed Algorithm Library for Programming Swarms of Robots (6.11 MB) James Kong, 10/13/2009 05:44 am

longchamp_bonani_roberts.pdf (1.85 MB) James Kong, 11/06/2009 01:03 am

RobertsIROS2009.pdf (1.6 MB) James Kong, 11/06/2009 02:41 am

BOM_Compare_4_to_6.png (59.8 KB) Dan Shope, 01/14/2010 07:01 pm

sharpmodulation.gif (2.27 KB) Dan Shope, 01/15/2010 12:49 am

sharptrain.gif (3.04 KB) Dan Shope, 01/15/2010 12:49 am

irreceiver.gif (3 KB) Dan Shope, 01/15/2010 12:58 am