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Infrared Sensor

SensorBot

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What is Infrared?

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Your IR Sensor

You installed your IR Sensor back in the Lights module.

Now, let’s explore what that is.

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What is IR?

Infrared is a part of the Electromagnetic Spectrum.

The Visible Spectrum contains the only wavelengths we can see.

Infrared Starts where the color “Red” ends.

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Pointers for Slide Delivery

To give you complete control over your robot you are going to set it up to respond to a remote control.
Before we start programming your bot to respond to the remote, we should first explain how the remote works.

All light, including light that you cannot see is part of the Electromagnetic Spectrum. (diagram)
Waves are organized by their frequency (how many peaks are in a set width, inverse of wavelength).
Light with the highest frequency is on the left. Lowest is on the right.
In the middle you can see a rainbow which represents the frequencies of light that we can see. It’s a very small amount of all possible light.
Infrared just past the visible light on the red side and so it is invisible to humans.
Infrared light has wavelengths longer than red light, and thus lower frequencies, which is why its name means below red.

�Image Source:�https://commons.wikimedia.org/wiki/File:EM_spectrum.svg

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What is IR used for?

We can use an IR filter to see IR light.
All objects give off IR light in proportion to heat.

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Visible light

Infrared light

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What is IR used for?

Astronomers can use infrared filters to see through all the dust in space too!

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Remote Control and Sensor

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Remote and Sensor

Remote Control

IR Sensor

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The remote control connects to the IR sensor.

Infrared light

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Protocol

What does the remote-control protocol look like?

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Start indicates the beginning of the transmission

The stop indicates the end of the transmission

Command

Device address (unique per TV manufacturer)

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IR Sensor

The IR receiver needs power and a way to communicate with the Arduino.

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GND

5V

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Program IR Sensor

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It’s Time to Code!

Open Google Chrome (web browser)

Navigate to www.tinkrcode.com

Click “Have a Code?”

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Project Code

You can enter the Shapes or Numbers by selecting the circle next to the words.

If you make a mistake, click “Clear”.

Click Submit

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Class Code

Enter your class code of either Fruit or Numbers.

If you make a mistake, click “Clear”.

Click Submit

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Open Your Program

Open your program

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Connect to Bluetooth

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1. Click Connect

2. Choose the number that is on your Project Sticker and click Pair.

3. Green means connected!

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Programming with the IR Sensor

This block is provided in the IR drawer.

This block reads the IR sensor, and if a button on the remote is being pressed, the value of that remote button will be put into a variable named ir.

Your IR sensor is connected to pin D2.

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Serial Printing

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Slide Clicks

0. We want to look at which button is being pressed.

One way we can to that is using the Serial Print.

Things that we print out will appear in a window at the bottom of your workspace (Serial Output).

In the Serial Print drawer, pull out Print Number.

We don’t want to print out a 0, we want it to print out the button that has been pressed. (If we were printing out text, we would use Print String.)

Remember, we saved the button press in “Set ir”
To see the button press, we use “Get ir”. Get commands give you the values of variables.
When you place these in your loop, the Read Remote command checks over and over to see if a button has been pressed.

If it was pressed, it saves the button number to the Variable ‘ir’.
The next time a button is pressed, it writes over the variable and sets it to the new value.
After ir is set to the button number, it prints it out.

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Reading the IR Sensor

Run this code and press several different buttons on the remote.

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Reading the IR Sensor

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What happens?

What do you think the number 17 means?

17 prints out whenever there isn’t a button being pressed

What do the other numbers mean?

Different buttons print out different numbers.

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IR Sensor Values

When does a number other than 17 print out?

When you press a button.

Try holding down a button.

What happens then?

When does a number other than 17 print out?

Only when you first press the button.

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Very Important!

The ir variable value is a number other than 17 ONLY when the button is first pressed.

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Ir Values

The numbers that print out don’t actually match up to the numbers on the remote control’s buttons.

To make it easier, TinkRcode has some blocks that represent the remote control’s buttons.

These blocks are equal to the numbers you printed out (like 6, or 10, etc.)

The values are Up, Down, Left, Right, Ok, Hash, Star, and the numbers Zero through Nine.

There is NOT a block for when no button is pressed. These blocks ignore when the ir value = 17.

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Revise Important Statement

The ir variable value is equal to the button block only when the button is first pressed.

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Using the ir Variable

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Conditionals

We want the bot to do something when we press a button.

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Button is pressed

Do something

But we really want it to do something different when different buttons are pressed.

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Lots of Conditionals

What we really need to say is:

If button = up

Move forward

If button = down

Move backward

If button = left

Turn left

If button = right

Turn right

If…

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Another type of Conditional: the Case Block

The Switch/Case block 'picks' a code statement to run based on the value of a variable.

This is a useful command when a variable will have one of a fixed set of values and you want to do something different based on each value.

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The Case Block

The Switch block needs a variable. This variable is used to pick one of the case blocks to run.

The value in the Case block indicates that the block will run when the variable equals that value.

There can be lots of cases. Drag in as many Case blocks as you need.

The Default block is used when none of the values match.

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Programming With the IR Sensor

This Switch/Case statement can be found in the Bot drawer.

The variable is what is read in from the IR sensor. The IR sensor is connected to pin D2.

Several Case blocks are set up for some of the different remote-control buttons.

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Programming With the IR Sensor

Here’s an example of the IR Switch block that is set up so that the bot goes forward when the user presses the Up button on the remote control.

You can put subroutine calls into the Case statements.

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Moving Forward

Remember:

The ir variable value is equal to the button only when the button is first pressed.

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Let’s look at the forward subroutine.

The subroutine starts the motors, so it is ok if it is only run once at the moment you press the button.

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Challenge #1: Remote Control Car

Challenge Name

Remote Control Car

Challenge Objective

Turn your robot into a remote-control car.

Challenge Notes

When you press the Up button, it should go forward. The down button should make the robot go backward and left and right should make it spin. Use the OK button to stop everything.

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Solution #1

Can put slow or fast here.

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Control Flow

After the Setup is run, the Control Flow starts at the top of the loop.

It sets the current value of the button to the variable ir.

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The forward fast subroutine is in the UP case.

The control flow then goes to the subroutine and the motors are started.

Next is the Switch/Case block.

Let’s say that the UP button has been pressed.

The UP Case will now be entered.

When the subroutine is done, the Control Flow goes to BELOW the Switch/Case.

The other cases are skipped.

Finally, the Control Flow goes to the top of the Loop again.

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Challenge #2: Lights

Challenge Name

Lights

Challenge Objective

Add a series of lights to Case STAR of your Switch/Case block using delays.

Challenge Notes

You can create a lights subroutine, or just put them in your Case STAR.

When you have added them, try them out by pressing the * button on the remote controller.

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Solution #2

What happens when you run this program and press the *?

The lights should turn Green and then switch to Red. But they stay on Red.

Why is that?

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Solution #2

When the * button is pressed, all the code in the STAR Case is run.

When the code in the STAR case is finished, the program then moves downward.

(or back to the top of the loop if no code is below it).

At the top of the loop, it checks again for the current ir variable.

By this time, the ir variable doesn’t equal STAR anymore because ir has gone back to being equal to that 17/”no button” value.

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Auto Backup

Let’s say that we wanted to add these 2 subroutines to Case ONE.

What would we want this code to do?

Drive forward and then automatically back up when it sees or hits an object.

What will actually happen?

The bot will move forward slowly and will not automatically backup.

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At the Same Time

Let’s say we want to drive around using the arrow keys AND have the bot automatically backup when it sees an object (or runs into it).

We just saw that we putting the Auto Backup in the Switch/Case won’t work.

To do this we will use modes.

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Modes

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Mode

We are going to define mode as:

A setting that allows the bot to repeatedly run a subroutine, but you can also drive if you want to.

For instance, the bot will automatically backup and turn when it sees an object (Auto Backup), PLUS you will be able to drive it around normally.

Modes:

Mode 0 will mean “Just Drive”
Mode 1 will mean “Auto Backup, but you can drive too”

We will use the number buttons on the remote controller to select a mode.

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Mode Variable

The variable ‘mode’ will hold the value of the mode we want to use.

Create a Global Variable named ‘mode.’

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Mode One

To use the number button to select code, we will need to use a Case.

For now, remove the Forward Slow and Auto Backup subroutines from Case One.

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Mode One

In Case One, Set mode = 1.

Pressing the #1 button will make the mode =1, but now we need to DO something with the variable mode.

Setting mode =1 by itself doesn’t do anything.

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Mode One

We want to enter the Auto Backup mode when the 1 button is pressed.

How do code something to happen only if something is true (button #1 is pressed)?

We need a conditional!

The conditional needs to go outside the Switch/Case.

What should go here?

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Try it

What should your bot do if you press button #1 and then drive using the arrow keys?

Try it out.

Did it do what you expected?

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Not Auto Backup

Let’s say that you want to stop the Auto Backup subroutine and just drive.

How would you make this conditional not true anymore?
Change the mode to not equal 1.

Let’s make it so that if you hit the 0 button, your bot would just drive and nothing else.

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Not Auto Backup

Let’s say that you want to stop the Auto Backup subroutine and just drive.

How would you make this conditional not true anymore?
Change the mode to not equal 1.

Let’s make it so that if you hit the 0 button, your bot would just drive and nothing else.

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Not Auto Backup

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What should you put here?

You set mode=0 so that this conditional here is no longer true.

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Case Zero

We don’t need a conditional for mode = 0 because we are stopping the Auto Backup and not starting anything else.

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Challenges

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Challenge #2: More Modes

Challenge Name

More Modes

Challenge Objective

Add the Wall Following subroutine to a mode.

Add the Not Touching You subroutine to another mode.

Add any other Subroutines that you have or want to make.

Challenge Notes

Think of bits of code that need to be looped over and over to work.

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Challenge #3: Lights for Modes

Challenge Name

Lights for Modes

Challenge Objective

Show which mode you are in by changing the bot’s lights.

Challenge Notes

What color will be Mode 0?

What color will be Mode 1?

What color will be Mode 2?

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Challenge #4: Drive With Lights

Challenge Name

Drive with Lights

Challenge Objective

Turn on some lights while you drive using a new mode.

Challenge Notes

Create a new mode to turn on the lights.

When you press the 0, stop the lights.

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Solutions

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#2 Solution

Mode 2 = Not Touching you

Mode 3 = Wall Follow

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Solution#3

Here the lights are set to Red for Mode 1

And turned off during Mode 0

Complete for the other modes as well.

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Solution #4

Mode 2 turns the lights green.

Button 0 turns the lights off.

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Extension

As an extension, you can also create a mode with changing lights.

This mode will flash the lights green and then red.

The lights will continue to change as long as the mode = 2.

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TinkRworks, Inc.

501 W Lake Street, Suite 106

Elmhurst, IL 60126

www.TinkRworks.com

Sparking CREATIVITY

Fostering INNOVATION

Sharpening PROBLEM-SOLVING skills

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