1. Introduction
The digital EV3 Infrared Seeking Sensor detects proximity to the robot and reads signals emitted by the EV3 Infrared Beacon. Some features about this sensor:
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Proximity measurement of approximately 50-70 cm
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Working distance from the beacon of up to two meters
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Supports four signal channels
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Receives IR remote commands
2. How to use the sensor
2.1. Measure distances
package ev3dev.sensors.ev3;
import ev3dev.sensors.Battery;
import lejos.hardware.port.SensorPort;
import lejos.robotics.SampleProvider;
import lejos.utility.Delay;
public class IRSensorDemo {
private static EV3IRSensor ir1 = new EV3IRSensor(SensorPort.S1);
private static int HALF_SECOND = 500;
public static void main(String[] args) {
System.out.println(Battery.getInstance().getVoltage());
final SampleProvider sp = ir1.getDistanceMode();
int distanceValue = 0;
//Control loop
final int iteration_threshold = 50;
for(int i = 0; i <= iteration_threshold; i++) {
float [] sample = new float[sp.sampleSize()];
sp.fetchSample(sample, 0);
distanceValue = (int)sample[0];
System.out.println("Iteration: {}" + i);
System.out.println("Distance: {}" + distanceValue);
Delay.msDelay(HALF_SECOND);
}
System.out.println(Battery.getInstance().getVoltage());
}
}2.2. Detect a beacon
package ev3dev.sensors.ev3;
import ev3dev.sensors.Battery;
import lejos.hardware.port.SensorPort;
import lejos.robotics.SampleProvider;
import lejos.utility.Delay;
public class IRSensorDemo2 {
//Robot Configuration
private static EV3IRSensor ir1 = new EV3IRSensor(SensorPort.S1);
//Configuration
private static int HALF_SECOND = 500;
public static void main(String[] args) {
System.out.println(Battery.getInstance().getVoltage());
final SampleProvider sp = ir1.getSeekMode();
int beaconInfo1H = 0;
int beaconInfo2H = 0;
int beaconInfo3H = 0;
int beaconInfo4H = 0;
int beaconInfo1D = 0;
int beaconInfo2D = 0;
int beaconInfo3D = 0;
int beaconInfo4D = 0;
//Control loop
final int iteration_threshold = 50;
for(int i = 0; i <= iteration_threshold; i++) {
float [] sample = new float[sp.sampleSize()];
sp.fetchSample(sample, 0);
beaconInfo1H = (int)sample[0];
beaconInfo1D = (int)sample[1];
beaconInfo2H = (int)sample[2];
beaconInfo2D = (int)sample[3];
beaconInfo3H = (int)sample[4];
beaconInfo3D = (int)sample[5];
beaconInfo4H = (int)sample[6];
beaconInfo4D = (int)sample[7];
System.out.println("Iteration: {}" + i);
System.out.println("Beacon Channel 1: Heading: {}, Distance: {}" + beaconInfo1H + beaconInfo1D);
System.out.println("Beacon Channel 2: Heading: {}, Distance: {}" + beaconInfo2H + beaconInfo2D);
System.out.println("Beacon Channel 3: Heading: {}, Distance: {}" + beaconInfo3H + beaconInfo3D);
System.out.println("Beacon Channel 4: Heading: {}, Distance: {}" + beaconInfo4H + beaconInfo4D);
Delay.msDelay(HALF_SECOND);
}
System.out.println(Battery.getInstance().getVoltage());
}
}2.3. Detect commands from a remote beacon
package ev3dev.sensors.ev3;
import lejos.hardware.port.SensorPort;
import lejos.robotics.SampleProvider;
import lejos.utility.Delay;
public class IRSensorDemo3 {
//Robot Configuration
private static EV3IRSensor ir1 = new EV3IRSensor(SensorPort.S1);
//Configuration
private static int HALF_SECOND = 500;
public static void main(String[] args) {
final SampleProvider sp = ir1.getRemoteMode();
int beaconInfo1 = 0;
int beaconInfo2 = 0;
int beaconInfo3 = 0;
int beaconInfo4 = 0;
//Control loop
final int iteration_threshold = 50;
for(int i = 0; i <= iteration_threshold; i++) {
float [] sample = new float[sp.sampleSize()];
sp.fetchSample(sample, 0);
beaconInfo1 = (int)sample[0];
beaconInfo2 = (int)sample[1];
beaconInfo3 = (int)sample[2];
beaconInfo4 = (int)sample[3];
System.out.println("Iteration: {}" + i);
System.out.println("Beacon Channel 1: Remote: {}" + beaconInfo1);
System.out.println("Beacon Channel 2: Remote: {}" + beaconInfo2);
System.out.println("Beacon Channel 3: Remote: {}" + beaconInfo3);
System.out.println("Beacon Channel 4: Remote: {}" + beaconInfo4);
Delay.msDelay(HALF_SECOND);
}
}
}