Chapter 7 Challenges

Questions
1. What is the frequency of the signal sent by tone(9, 38000, 8)? How
long does this call send the signal for? What I/O pin does the IR LED circuit
have to be connected to in order to broadcast this signal?
38 kHz is the frequency of the signal. Although the 8 in tone calls ms
parameter calls for a signal that lasts for 8 ms, the book said that testing
indicated it lasted for 1.1 ms. The IR LED must be connected to the digital
pin 8 socket for the tone signal to make it flash on/off at 38 kHz.

2. What has to happen after the tone command to find out if the IR
receiver detects reflected infrared?
The code has to pause for 1 ms with delay(1) and then store the IR value by
copying whatever digitalRead returns to a variable; for example, delay(1)
followed by irLeft = digitalRead(10).

3. What does it mean if the IR detector sends a low signal? What does it
mean when the detector sends a high signal?
A low signal means that 38 kHz IR was detected, which means that the 38
kHz flashing light the IR LED transmitted must have reflected off an object in
its path. In other words: object detected. A high signal means no 38 kHz IR
was detected, so, there wasnt any object to reflect the IR LEDs light. In
other words: object not detected.
4. What happens if you change the value of a resistor in series with a red
LED? What happens if you change the value of a resistor in series with an
infrared LED??
For both red and infrared LEDs, a smaller resistor will cause the LED to glow more
brightly. A larger resistor results in dimmer LEDs. In terms of results, brighter IR
LEDs make it possible to detect objects that are farther away. But it can also
have annoying side effects, like seeing the reflection of the surface it is rolling on
and misinterpreting it as an obstacle.

Exercise Solutions

Exercises
1. Modify a line of code in IrInterferenceSniffer so that it only monitors
one of the IR detectors.
int irLeft = 1;
 int irRight = 1;

while((irLeft == 1) && (irRight == 1))

{
irLeft = irDetect(9, 10, 38000);
irRight = irDetect(2, 3, 38000);

2. Modify AvoidTableEdge so that when it makes the BOE Shield-Bot back

up, it also turns a little so that it doesnt get stuck going straight back at the
same drop-off.
int irLeft = 1;
int irRight = 1;

while((irLeft == 1) && (irRight == 1)) // Wait for detection

{
irLeft = irDetect(9, 10, 38000);
irRight = irDetect(2, 3, 38000);
}

Projects
1. Design a BOE Shield-Bot application that sits still until you wave your
hand in front of it, then it starts roaming.

2. Design a BOE Shield-Bot application that slowly rotates in place until it

detects an object. As soon as it detects an object, it locks onto and chases
the object. This is a classic SumoBot behavior.

3. Design a BOE Shield-Bot application that roams, but if it detects

infrared interference, it sounds the alarm briefly, and then continues
roaming. This alarm should be different from the low battery alarm.