Example Code for Arduino-IR Sensor

The codes of the IR sensors should be used in Mega ADK.

Hardware Preparation

• Main controller: Arduino Mega ADK/2560
• Five Sharp GP2D12 infrared sensors
• GMR board
• Switch system

Software Preparation

• Development tool: Arduino IDE 1.0.x or higher

Wiring Diagram

Other Preparation Work

• Insert the Mega and Nano on the GMR board, connect the output of the switch system to the power supply of the motor controller and the GMR board.
  

• Turn off the switch.

• Connect the circuits as the connection diagram , connect the IR sensors.

• You may test it use another microcontroller (Arduino Uno), then move the codes to the Mega ADK.

• The codes of the IR sensors should be used in Mega ADK. The communication between Nano and Mega ADK is I2C.

Sample Code

/********************** IR sensor ***********************/
void IRreader()//detect distance on both sides
{
  static float IRdata[IrNumber] = {
    80,80,80,80,80                  };
  for(int h=0;h<IrNumber-2;h++)
  {
    float volts = analogRead(h + 1);
    _iR[h] = (6787 / (volts - 3)) - 4;
    if(_iR[h]<10)   _iR[h] = 80;
    _iR[h] = min(_iR[h],80);
    _iR[h] = max(_iR[h],12);
  }
    for(int h=5;h<7;h++)
    {
      float volts = analogRead(h-4);
      _iR[h] = (6787 / (volts - 3)) - 4;
      if(_iR[h]<10) _iR[h] = 80;
      _iR[h] = min(_iR[h],80);
      _iR[h] = max(_iR[h],12);
    }
  for(int h = 0 ; h < 5 ; h++)
  {
    _iR[h] = smooth(_iR[h],0.9,IRdata[h]);
    IRdata[h] = _iR[h];
  }
}
float smooth(float newdata, float filterVal, float smoothedVal)
{
  if (filterVal > 1)
    filterVal = .99;
  else if (filterVal <= 0)
    filterVal = 0;
  smoothedVal = (newdata * (1 - filterVal)) + (smoothedVal  *  filterVal);
  return smoothedVal;
}

Result

Test the IR sensors using the example code.