ZMROBO | Education Robot | JoinMax Digital

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Introduction

Infrared compound eye, made up of several infrared infrared sensitization units, is an electronic part used to detect infrared ray. With only one port, it can read the strongness of infrared rays easily and automatically work out the directions of the maximum value and minimun value.

Number	Description
1	label BE-1725 BE: electronic part 17: ray-detecting module 21: compound eye
2	Direction indicator: one of the seven lamps lights up when the maximum value is read at its direction.
3	3 IR photodiode: it detects the strongness of IR rays.
4	4 Numbered directions: seven directions are numbered.
5	connector: made up of four wires Black wire: GND Red wire: power supply (+5V-+8V) Yellow wire: signal wire Brown wire: signal wire

Feature

1. Standard Joinmax RCU four-line connector. Compatible with two-line I2C interface. It is convinient for user's DIY extention use.
2. With seven lamps, direction indicator points out direction of light source (that is, direction of the maximum value) easily.
3. Digitalized controlling.
4. Data of surrounding environment can be read by 15 commands.
5. It gets two modes. The enhanced mode can detect modulated IR signals, including Robo Cup Junior stepped modulated mode. It filters out background signals.

Usage

Compound eye is mainly used to detect the surrounding infrared rays, whose strongness is called ray value. Compound eye is used widely, for example, to detect lighted candle in the firefighting competition (Mode B), or to tell the ball direction in the soccer match (Mode A/C/D). Modes can be switched by command.

1. Working theory

Compound eye is made up of one CPU and seven IR photodiodes. CPU keeps detecting the strongness of infrared rays of IR photodiode in different places and find out the strongest one. When CPU receives command from the robot controlling kit, it will return the figure.

2. Module installation

Connect compound eye to one of RCU's free ports. Pay attention that the black wire should be put on the margin.

3. Software controlling

In RoboExp, compound eye gets a module icon for controlling.Open its property window, input commands in the "command" block, and the compound eye is under controlled now. The following is the meaning of different commands:

Command	Meaning of Return Value	Description
1	ray value of 1st channel	Read ray values of the 7 directions in an 180 degrees range.
2	ray value of 2nd channel
3	ray value of 3rd channel
4	ray value of 4th channel
5	ray value of 5th channel
6	ray value of 6th channel
7	ray value of 7th channel
8	channel of maximum ray value	Instant reading of the maximum ray value and telling its direction.
9	maximum ray value
10	channel of minimum ray value	Instant reading of the minimum ray value and telling its direction.
11	minimum ray value
12	average of the 7 detected ray values	Instant reading of average ray vaule.
13	switch to mode B (normal mode)	Commands 1-12 will read ray value in normal condition.
14	switch to mode A/C/D (modulated mode)	Commands 1-12 will read ray value while filtering out background signals.
15	average of the 7 detected ray values	Instant reading of average ray vaule.

4. Notice

Beware that the 7 detect tubs should be installed downwards (under bottom of the PCB).

Appendix: Interface Description

No.	color	name/function
1	black	GND
2	red	+5V~+8.2V power supply
3	yellow	SDA information signal wire
4	brown	SCL clock signal wire

JMP-BE-1725 compound eye's I2C hardware address is 0x01. Follow the standard I2C protocol and the information can be read in way of MASTER READ.

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Compound Eye