Create/ASUS Sensors
From Tekkotsu Wiki
The Create/ASUS robot's sensors include various devices: two pushbuttons, left and right bump switches, four cliff detectors, an IR wall detector, a built-in odometer, battery state sensors, and several more.
Sensor, button, and output names are defined in the file Tekkotsu/Shared/CreateInfo.h. Most of the information on this page comes from the Create Open Interface manual.
Contents |
Sensors
| RobotInfo Name | Description | Value |
|---|---|---|
| DigitalIn0 | Digital inputs 0-3 (via DB-25 connector) | 0/1 |
| DigitalIn1 | ||
| DigitalIn2 | ||
| DigitalIn3 | ||
| AnalogIn | Analog input (via DB-25 connector) | 0-1023 |
| WallSignal | Wall detector (IR reflectance) | 0-4095 |
| IR | Infrared comm signal | 0-255 |
| CliffLeftSignal | Cliff detectors | 0-4095 |
| CliffFrontLeftSignal | ||
| CliffFrontRightSignal | ||
| CliffRightSignal | ||
| Distance | Distance traveled in millimeters (negative for backward motion) | -32768 to 32767 |
| Angle | Angle in degrees that the robot has turned; counterclockwise is positive | -32768 to 32767 |
| BatteryVoltage | Battery and charging state | |
| BatteryCurrent | ||
| BatteryCharge | ||
| BatteryTemp | ||
| ChargingState | ||
| ModeState | Open Interface mode: 0=Off, 1=Passive, 2=Safe, 3=Full | 0-3 |
Buttons
The buttons consist of physical buttons that users can press (the Play and Advance buttons, the left and right bump switches, and the wheel drop sensors), and virtual "buttons" that indicate an event such as an over-current condition or the detection of a virtual wall. All button values are binary (0 or 1).
| Button Name | Function |
|---|---|
| Play | User input buttons: see Create Controls and Indicators |
| Advance | |
| Wall | Virtual wall detector (not the same as IR reflectance sensor) |
| CasterDrop | Cliff detection |
| LWheelDrop | |
| RWheelDrop | |
| LBump | Bump sensors |
| RBump | |
| LOverCurrent | Wheel motor current limit exceeded |
| ROverCurrent | |
| DriverLow0 | User-available driver current limit exceeded |
| DriverLow1 | |
| DriverLow2 | |
| BaseCharger | Robot is connected to base charging station |
| InternalCharger | Robot's charging cord is plugged in |
Outputs
| Output Name | Function | Value |
|---|---|---|
| WHEEL:L | Wheel velocity in mm/sec | -500 to 500 |
| WHEEL:R | ||
| LED:Power(Red) | Power LED intensity = max(red,green) Power LED redness = 255*red / (red+green) | 0.0 to 1.0 |
| LED:Power(Green) | ||
| LED:Play | LED intensity: 0=full off, 1=full on, intermediate values blink | 0.0 to 1.0 |
| LED:Advance | ||
| DesiredMode | Set the ModeState; not supported in Tekkotsu |
Duties
| Name | |
|---|---|
| WHEEL:L | |
| WHEEL:R |
Using the Sensor Observer
You can monitor any of the above values using the Sensor Observer in the ControllerGUI:
- Go to Root Control > Status Reports > Sensor Observer
- Choose one of the sections Sensors, Buttons, Outputs, or Duties
- Check the boxes of the values you want to monitor
- Hit the Back button to return to the main Sensor Observer menu
- Double-click on Real-Time View to display the values in the ControllerGUI.
- To write the values to the console instead, double click on Console Output.
- To log the values to a file, type the file name in the ControllerGUI's Send Input box, then double click on File Output.
- Uncheck the Console Output or File Output checkbox to terminate logging.
