Sensors for the Scribbler 2 Robot

A Scribbler 2 robot has numerous sensors for detecting the world, and the MyroC library provides function calls to obtain data from the sensors.

The following figures indicate which functions reference which sensors.

Scribbler forward

Sensor Set	Vector Function	Text Functions	Number Functions	Values Returned	Comments
Light Sensors (really darkness sensors)	int vals[3] rGetLightAll(vals);	rGetLightTxt("left"); rGetLightTxt("middle"); rGetLightTxt("right");	rGetLightNum(0); rGetLightNum(1); rGetLightNum(2);	bright light returns values near 0; dark areas return large integers (about 65,000)	bright, direct light needed for small-value results
IR Scribbler Sensors	int vals[2] rGetIRAll(vals);	rGetIRTxt("left"); rGetIRTxt("right");	rGetIRNum(0); rGetIRNum(1);	output 0 indicates no obstacle; output 1 indicates obstacle	light must reflect from emitter to receiver, so obstacle must be a 4-6 inches away

Fluke forward

Sensor Set	Vector Function	Text Functions	Number Functions	Values Returned	Comments
Obstacle Sensors	int vals[3] rGetObstacleAll(vals);	rGetObstacleTxt("left"); rGetObstacleTxt("middle"); rGetObstacleTxt("right");	rGetObstacleNum(0); rGetObstacleNum(1); rGetObstacleNum(2);	values near 0 indicate no obstacle (no light reflected from emitters) large integers (near 6,000) indicates obstacle	value returned depends upon battery strength and output; level of emitters (set by rSetIRPower(level), where level in range 0, 255) values under 1000 are likely to imply an obstacle values over 5000 are likely to imply no obstacle values between 1000 and 5000 may not give definitive results

http://www.walker.cs.grinnell.edu/courses/161.sp12/scribbler2-sensors.shtml