Chapter 8 Challenges

Questions
1. What would the relative sensitivity of the IR detector be if you use tone to send a 35 kHz
signal? What is the relative sensitivity with a 36 kHz signal?
The relative sensitivity at 35 kHz is 30%. For 36 kHz, its 50%
2. What keyword is used to declare a constant?
Precede a variable declaration with the const keyword
3. What statement is used to sweep through the list of frequencies used for IR distance
measurements?
A for loop that starts indexing at 38000 and increases by 1000 with each repetition
4. Whats a summing junction?
A summing junction is a part of a block diagram that indicates two inputs are added together (or one
subtracted from another) resulting in an output
5. In our closed loop proportional control block diagrams, what two values are used to
calculate the error term?
The error term is the measured level subtracted from the desired set point level
6. How do delays in the loop function contribute to setting the sampling rate?
If a distance sample is taken with each repetition of the loop function, then the delays more or less
determine how long it takes between each sample. Thats called the sample interval, and 1 sample
interval = sampling rate
Exercises
1. Write a segment of code that does the frequency sweep for just four frequencies instead
of five.

Just reduce the for statements condition from f <=42000 to f <= 41000

for(long f = 38000; f <= 42000; f += 1000) {

distance += irDetect(irLedPin, irReceivePin, f);
}

2. Write global constant declarations that initialize kpl as 45 and kpr as 55.
const int setpoint = 2; // Target distances
 const int kpl = -45; // Proportional control constants
const int kpr = -55;

Projects
1. Write a sketch that allows you to hold your hand in front of the BOE Shield-Bot and push
it backwards and forwards with no turning.
void loop() // Main loop auto-repeats
{
int irLeft = irDistance(9, 10); // Measure left distance
int irRight = irDistance(2, 3); // Measure right distance

// Left and right proportional control calculations

int driveLeft = (setpoint - irLeft) * kpl;
int driveRight = (setpoint - irRight) * kpr;

int drive = (driveLeft + driveRight)/2; // Average drive levels

maneuver(drive, drive, 20); // Apply same drive to both

delay(10); // 0.1 second delay

}