rate of 31.25 Hz, and are interfaced by the RabbitCore microcontroller through the use of

a TLC545 Texas Instruments analog-to-digital converter. The sensors are positioned one

in front of the other with a one-inch offset and are orientated such that their detection

beams are perpendicular to the long axis of the Andros, as seen in Figure 2-7; the sensors

point directly at the plane upon which the Andros is situated. Both sensors are shrouded

to limit the amount of interference they may receive from ambient light sources and from

each other.




 0.4


 0.2


 0
 S4.5 5 5.5 6 65

 -0.2


.: -0.4


-. Impulse
mn -0.6
a *


 -0.8


 -1
 Stair Data *
 1st Derivative
 -1.2
 2nd Derivative

 -1.4
 Time (sec)

 Figure 2-8: Infrared sensor stair representation