Advance Line Following Sensor Bar LSA08 User`s Manual V1.0
Contents
1. 0 m Input signal Vw SV Inputsignal Vu B Output Signal S S S S 5 S y Absolute Maximum Rating Operating voltage S Maximum Current Q O signal pins 2 m LSA08 Setting Menu LCD Contrast LCD CON Setting the contrast of LCD Calibration CALB a to the colour brightness of the line and Setting LSAO8 to be Dark On for dark line and bright Line Mode LINEMODE background or Light On for bright line and dark background Threshold THRES Pt Maximum and minimum reading of sensor adjustment Offset OFFSET to eliminate small fluctuation on the bar chart set to zero if not used i Junction width the number of bar chart on LCD for a a aoe LSAO8 to treat it as a junction crossing UART Address UART ADD Unique UART address for the LSAOS UART Baudrate Setting the baudrate of the UART Communication BAUDRATE UART Mode UARTMODE Setting the UART output mode LCD Backlight LCD B L Setting the LCD backlight brightness Exit EXIT Exit menu Press and hold Mode button on any main menu will exit the menu Created by Cytron Technologies Sdn Bhd All Rights Reserved 6 Cytron 5 Technologie LSAO8 default setting Menu Default setting Line Mode Dark On Thres 2 Offset 0 J_width 5 Uart Add l Baudrate 0 Uart Mode 0 LCD BL 6 Created by Cytron Technologies Sdn Bhd All Rights Reserved ROBOT HEAD to TOE Product User s Manual LSA02. 1 INTRODUCTION AND OVERVIEW LSAO8 Advance Line Following Sensor Bar consist of 8 IR transmitter and IR receiver pairs LSAO8 is typically used for embedded system or robots for line following task LSA0O8 can detect any color of line which has brightness different with the background The IR transmitters on LSA0Q8 are pulsed to allow the transmitter to off at certain idle period of sensor This minimizes the current consumption of LSAO8 to at least half of the current consumption compared to a normal unregulated IR line sensor Power polarity protection is available on LSAO8 in case the user accidentally applies a reverse voltage LSA0O8 has several different output modes for the convenience of use for any system Namely the digital output port 8 parallel output line the serial communication port UART and the analog output port 8 bits for 8 sensors UART Retrieve digital value line position or sensor raw value Position value in the form of analog voltage LCD on the LSA08 displays the different menu for setting up the operation setting LSAO8 have 8 digital outputs to user indicating the existence of the line The dark and bright value of the line and background will be saved to non volatile memory when the user calibrate the sensor to the surface that it will recognize The line existence threshold is set by the Threshold menu of the sensor Each sensor of the 8 sensors on LSA08 is independent of each other The re
3. Cytron Technologie Advance Line Following Sensor Bar LSA08 User s Manual V1 0 September 2011 Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates It is your responsibility to ensure that your application meets with your specifications No representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or otherwise Use of Cytron Technologies s products as critical components in life support systems is not authorized except with express written approval by Cytron Technologies No licenses are conveyed implicitly or otherwise under any intellectual property rights C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 Index 1 Introduction and Overview 3 2 Packing List 4 3 Product Specification and Limitations 5 4 Board or Product Layout 8 5 Installation hardware 10 6 Getting Started 18 6 1 Output Port 25 6 1 1 PORT A Analog and UART port 25 6 1 2 PORT B Digital Output port 32 6 13 PORT C External LCD 34 7 Warranty 6 months or 1 year 35 Created by Cytron Technologies Sdn Bhd All Rights Reserved C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08
4. Technologie Product User s Manual LSA08 Threshold is the value of bar chart on LCD for LSAO8 to treat as a valid line The threshold value is from 0 to 7 If threshold is set to 7 for example LSAO08 will not detect the line if the bar chart on LCD 1s less than 7 LCD also will only display means no line detect For this example the threshold is set to 2 and U1 is detect the dark line because the bar line is more than 2 Figure below shown LSAO8 cannot detect the line because the threshold value is 7 and the bar line display on LCD 1s less than 7 Created by Cytron Technologies Sdn Bhd All Rights Reserved 21 C vr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSA08 LCD on the LSAO8 will displays the different menu for setting up the operation setting There are 10 setting for LSAO8 Users may refer page 6 for menu setting description For example user want to set LCD Backlight for LSA08 To enter menu setting 1 Press MODE button once It will bring user to 1 menu setting which is LCD CON 2 Change the menu by more presses on Mode button until the desired menu appeared for example LCD B L Created by Cytron Technologies Sdn Bhd All Rights Reserved 22 C vr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSA08 3 Press SEL button to enter the desired menu LCD B L LCD will display current value of LCD backlight Created by
5. s Manual LSA08 Created by Cytron Technologies Sdn Bhd All Rights Reserved 32 C Vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 CC a Ea z F 3 Teie F L tt Example connection from Digital Output LSA08 to microcontroller Created by Cytron Technologies Sdn Bhd All Rights Reserved 33 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 6 1 3 PORT C External LCD Another port provided is PORT C which is for the use of external LCD Jumper on LSA08 needs to be set to Ext for the External LCD to operate The contrast value for the LCD need to be readjusted because every LCD has different voltage range for the liquid crystal in order to display properly The contrast is the second menu of the LSAO8 Table below shows the pins defined for external LCD User may use only one LCD at a time Either external or internal LCD which is set by JP4 External LCD Port PORT C Pin Description 1 GND 2 ILCD VDD 5V 3 ILCD VEE Controlled by the contrast menu 4 IRS 5S R W 6 E 11 D4 12 D5 13 D6 14 D7 15 LED Backlight 16 LED Backlight In the case of the characters on the LCD is invisible due to the wrong contrast press the Mode button once then press Select button to enter the LCD Contrast Menu and press and hold the Select button to adjust the contrast Created by Cy
6. aM oo Ext is set to use external LCD Cable connector for PORT C is not included in LSAO8 packing list Users need to create the cable if needed Below are the steps to create cable for PORT C using rainbow cable The items that user needs to create the cable are e Rainbow cable e 2x 16 ways IDC Socket Created by Cytron Technologies Sdn Bhd All Rights Reserved 12 C Vr on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 a Remove the clip from IDC socket b Insert rainbow cable into IDC socket shown as figure below hh h TT ET YY EAT i c Clamp the rainbow cable to IDC socket using clamper Created by Cytron Technologies Sdn Bhd All Rights Reserved 13 C vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 d Figure above shows the rainbow cable with connector after clamp by the clamper e The rainbow cable is fold to front as show in figure below Created by Cytron Technologies Sdn Bhd All Rights Reserved 14 C Vr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSA08 f The last step is to plug on the clipper to the connector g Figure below show the completed cable with IDC socket Created by Cytron Technologies Sdn Bhd All Rights Reserved 15 C vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 h To connect LSAO08 to main controller user
7. out by LSAO8 when the flow control signal line UART Output Enable UEN pin is pulled low by the user This flow control signal line enables the user to have enough time to process the data from LSAO8 before any new data coming in by setting a high signal to UEN pin This will prevent the UART buffer overflow of the user s main board side condition caused by fast flowing of data sent by LSAO8 Below is pin defined for UART pin UART and Analog pin shared same port which is PORT A Created by Cytron Technologies Sdn Bhd All Rights Reserved 30 C vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 UART output enable signal pin UEN is for controlling the flow of data from the LSA08 board This line will not affect the commands sent into the LSAQ8 board and responses of LSA0O8 to the commands on UART serial communication line Commands can be sent to the LSAO7 regardless the UEN line signal state either low or high and LSA08 will still response accordingly Commands and responses of command have higher priority than the data output streams Thus LSAQ8 will process the command and response accordingly as soon as it receives the full correct packet command LED UICOO amp Tn Bower ONOFF E par T zma as F SEA0C Example connection from UART Output LSA08 to microcontroller 6 1 2 PORT B Digital Output port The digital port consists of 8 signal pins Every signal
8. pin represents a sensor on LSAO8 board A 5V or high digital value 1 shows line detected whilst a OV or digital value of 0 shows no line detected The User will need to process the data to determine where the line exists For example if UO and U1 sensor give high digital value this means that the line is in between the two sensors A simple setup user can connect the digital port which consists 8 signals from LSAO8 directly to the user s main controller digital port The user main program can directly read the digital port value to determine the line position This port actually consumes a lot of port pins 8 pin If the user main controller is lack of the digital input port pins the user can choose to use the UART output 3 pins maximum or Analog output 1 pin from the LSAO8 which minimize the usage of the controller port pins and reserve for other control purposes Created by Cytron Technologies Sdn Bhd All Rights Reserved 31 Cytron 5 Technologie Table below shows the pins defined for digital output port Pin Description Symbol 1 Digital Output 1 Sensor 1 o0 2 Digital Output 2 Sensor 2 Ol 3 Digital Output 3 Sensor 3 O2 4 Digital Output 4 Sensor 4 O3 5 Digital Output 5 Sensor 5 O4 6 Digital Output 6 Sensor 6 O5 7 Digital Output 7 Sensor 7 O6 8 Digital Output 8 Sensor 8 O7 9 Vin 12V VIN 10 GND GND ROBOT HEAD to TOE Product User
9. 8 C Vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 4 BOARD OR PRODUCT LAYOUT 5 O zz A gt x A A LA m g gt C i L ge m a bi 3 w we ro lt x l i i i ji k H H r rT oe r if Pike i if q 1 n kai Ru Riz Jia R3 1s wt gag 578 pe T Thiz C puti folughatag ni nni iiij iis 1 H fit Scl chal i Pit aa a fT gt e i coin s io T aal na N i ol a ee oy P 1 Baan m l i d ld p te d t ss d g gt F j 5 i e 4 Da t iy f i f f 5 j j f But i i f f h i l gt j 5 f m A AA y r 3 ier r er a i pEr a An y f y i 4 Port C External LCD port B PICI6F1937 G LCD Selector C Manufacturing Test Points H Port B Digital por D SELbutton Port A Analog and UART port A 2x8 LCD display to display the different menu for setting up the operation setting B PICI6F1937 PIC microcontroller for data processing C It is reserved for Manufacturing Test Point Please DO NOT short or connect wire to any of these pins D SEL button is use to select modes or setting E MODE button is use to enter different modes setting F Port C is provided for external LCD port G LCD selector to select either internal or external LCD used A jumper needs to be set to Ext for the Ex
10. Cytron Technologies Sdn Bhd All Rights Reserved 23 C Vr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSA08 5 Press Mode button to return to menu selection 6 Press and Hold Mode button while in menu selection to exit Created by Cytron Technologies Sdn Bhd All Rights Reserved 24 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 6 1 Output Port LSAO8 has 2 output port Port A and Port B for 3 types of output mode The outputs mode for LSAO8 are digital output 8 parallel output line serial communication UART and analog output Port A is provided for UART and analog output mode and port B for digital output mode User may choose to use either this Port A or Port B or both Vin and Gnd pin are for the power of the LSAQ8 Both Port A and Port B has the pins either of the port can provide the power to LSAO8 6 1 1 PORT A Analog and UART Port Table below is pin defined for PORT A Analog and UART port Analog and UART Port PORT A Pin Description Symbol 1 UART TX Transmit Tx 2 UART RX Receive Rx 3 UART Output Enable UEN 4 Analog Output AN 5 Junction Pulse JPULSE 6 Not used 7 Not used 8 Not used 9 Vin VIN 10 GND GND Junction Pulse is for junction detection pulse will be generated every time LSAO8 crossing a junction with minimum width determine by Junction Width setting Anal
11. It can be from 0 to 255 set by user from the UART Address Menu This Address together with UART Output Enable features allows the user to control more than one LSAO8 from a main board The Checksum byte of the packet is calculated by adding up the Address byte Command byte and Data byte together and taking only lower byte if more than one byte after addition CHECKSUM 1 Byte Lower Byte ADDRESS COMMAND DATA Example packet Address Command Data Checksum 0x02 0x43 0x00 0x45 This packet will cause the LSA08 to start calibration Thus the user may need to start rotate the robot to start exposing the LSAO08 to the line and background in the predefined time constraint The data byte is set to zero for those commands that do not need of any data value Address Command Data Checksum OxFO 0x44 0x03 0x37 Please take note that the 4 modes of the UART mode are represented by data value from 0 to 3 The above command will sent the UART data mode to mode 3 which is raw data from A D converter of the sensors on LSAO8 If there is confusion of UART address of the LSAO8 anytime the user can manually go into the LCD menu of the UART ADD to check for it The correct address for the LSA08 board is important to be known if the user wants to use the UART serial communication with the board Every successful UART command received by the board with correct address command and checksum value will b
12. e responded by LSAO8 with a pair of ASCII characters OK immediately upon successful command If in case there is no response from the board the packet is being ignored by the board because of the wrong address command checksum or communication error which might be caused by the incorrect baudrate of poor signal line Resend of the command packet is needed if the user still need to change the setting by UART communication Figure below is example a packet command send to setting LSAO8 1 packet data send is to set the address to 02 from the current address Because this is the 1 time to set the address the current address is the default address 01 of LSAO8 The 2 packet data is to set the LCD backlight with maximum backlight Created by Cytron Technologies Sdn Bhd All Rights Reserved 29 C Vr on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 QB x CcTU COM34 About PL Settings Range Test Terminal Modem Configuration ane U Assert Close Assemble Clear Hide LES ESS EE OTA IY ATS le Break Com Poth Packet Screen Hex A DOK B NOK O1 41 02 44 4F 4 48 02 42 OA 4E 4F Characters OK A packet of received when A packet of command to set the command is command to set backlight successful the address This is different from retrieving data from LSAO8 By enabling the UART data sending to the desired setting of data format refer to table in 6 1 1 the data is always sent
13. freshing rate of the sensors is more than 100Hz LSAO8 has a manual mode and select button User can choose different mode settings using MODE button and SEL button to enter the mode settings Note Red color is very bright to IR sensor thus LSA08 has difficulties in red white pair color line follow Created by Cytron Technologies Sdn Bhd All Rights Reserved 3 C vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 2 PACKING LIST Please check the parts and components according to the packing list If there is any part missing please contact us at sales cytron com my immediately A gt A e gt L A wy hs rm oy i A FEA Batt ea ij e i t a 7 r E i t D 4 ne Ria R12 em Ce ie fs La 7 Rs tris is T fe ts ie E 5 Y a T KET a CZ 5 S SLQo ra awd el s r sea twa Nar se me tee om Siy twa m ea a owe w 2 1 LSAO8 amp PCB with every component soldered properly 2 LSAO8 cable connector Created by Cytron Technologies Sdn Bhd All Rights Reserved C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 3 PRODUCT SPECIFICATION AND LIMITATIONS Dimensions CVs Created by Cytron Technologies Sdn Bhd All Rights Reserved 5 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 Electrical Specifications IR Emission peak wavelength
14. imiter followed by 8 bytes of sensor A D reading This mode is for those who want to process the sensor raw data themselves Created by Cytron Technologies Sdn Bhd All Rights Reserved 27 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 UART Serial communication setting need to initialize in user programming microcontroller or hyperterminal computer UART Serial Communication specification of LSA08 are Baudrate Variable Set by user Start bit 1 Stop bit 1 Data bit 8 Parity bit 0 For LSA08 Serial Communication UART a command needs to send to enter menu mode Table below shown command reference table for UART and UART Command Packet Format Table shows the selectable baudrate for LSAOS8 Setting Baudrate bps 0 9600 l 19200 2 38400 3 57600 4 115200 5 230400 Command and data reference table for the UART Command Hexadecimal scan Data Hexadecimal value ee ie ark roa ea Oa O OxAF Offset 00 032 B 0x42 LCD Backlight OO OXOA R 0x52 UART Baudrate x00 0x05 D 0x44 UART Data OutputMode 0x00 0x03 UART Command Packet Format 4 bytes ADDRESS COMMAND DATA CHECKSUM Created by Cytron Technologies Sdn Bhd All Rights Reserved 28 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 ADDRESS is the Address of the LSAO8
15. may use IDC socket for other end of rainbow cable It depends on the connector at the main controller side modifications can be done to the cable as needed Below are example steps for setting up LSAO08 cable to connect to main controller using 2510 connector Created by Cytron Technologies Sdn Bhd All Rights Reserved 16 Cytron 5 BOT HEAD t Technologie Product User s Manual LSA08 Created by Cytron Technologies Sdn Bhd All Rights Reserved 17 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 6 GETTING STARTED LSA0O8 need to be calibrated to retrieve the dark and bright value of the surface that it will do the line follow Every of the IR sensor pairs need to be exposed to the dark and bright surface for it to read the value and save it LSAO8 will save the value in EEPROM it will retrieve back the data from the EEPROM every time its switch on Hence only one time calibration is needed for the same background and line unless the background and the line changed then recalibration is needed To calibrate LSAO8 go into menu setting using MODE button Choose CALB and enter the mode using SEL button Calibration is started by exposing the sensor to the bright surface and then to the dark surface of the line and background in the allocated time Restart the calibration if missed the timing LSAO8 will save the brightest and darkest value in from the calibration process User can calib
16. of UCOOA UCOOB or microcontroller In others word Tx pin of LSAO8 amp must connected to Rx pin of UCOOA microcontroller and Rx pin of LSAO8 amp must connected to Tx pin of UCO0OOA microcontroller UART Output Enable UEN pin is used to enable the data output streams from the LSAO8 This pin needs to be pulled low to enable the data output streams This pin is functioning as the flow control of the UART output data The main controller request the data by pulling low the UART Output Enable pin The data output streams can be in 4 different formats which are set in menu of UART Mode Mode 0 No Data Mode 1 Parallel output digital output of each sensor Mode 2 Line Position Mode 3 A D reading of each sensor Mode Description 0 No data from UART 1 One byte of data at the refreshing rate of LSAO8 8 bits represent digital value of the 8 sensors l represents the existence of line and 0 means no line Threshold of the line existence is set in the Threshold Menu 2 One byte of data which represent the current position of the line The value is from hexadecimal value of 0x00 to 0x70 OXFF represents no line detected 0X00 means the line is detected on the most left of the LSAO8 and 0x70 means that the line is detected on the most right of the sensor This value is also shown on the second row LCD of LSAO8 3 Every raw A D value readings from the sensor are sent out in packets Each packet is start with Ox00 as the del
17. og Output mode Analog output pin represents the line position detected in the form of analog voltage User read the analog voltage on the pin using Analog to Digital converter to determine the position of the line The analog voltage value range from 0 Volt to 4 5 Volt which represents the line position between sensor O to sensor 7 5 Volt on the analog output pin represents no line detected Created by Cytron Technologies Sdn Bhd All Rights Reserved 25 C Vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 For example if a line is at the middle of the LSA08 which is in between sensor U3 and U4 the LCD on board will show the position as 35 And the analog reading will be T0 Posifion 2 245V The linear equation for conversion of analog value on Analog Output pin to the position is shown below Analog pin readings i Position 70 osion 45V ri al Lm i mI ti ti 40 Pin PICI6F AL8F mele SE40C Example connection from Analog Output LSAO8 to microcontroller Created by Cytron Technologies Sdn Bhd All Rights Reserved 26 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual LSA08 UART Output mode UART Output port can be connected to microcontroller or computer Connection to computer is using UCOOA B UART TX and RX are the UART transmit and receive pin of LSAO08 which Tx and Rx pin from LSA08 must cross connected to Tx and Rx pin
18. rate by simply swinging the sensors across the dark and bright surface of the line in order to expose every sensor to the dark and bright surface Calibration of every sensor is independent and value of each sensor will be saved Example motions of calibration by crossing the sensor between the lines Created by Cytron Technologies Sdn Bhd All Rights Reserved 18 C Vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 Once power is supply to LSA08 LCD will display the line position detection and bar chart Line position detection is a value to shown which sensor is detect the line The position on LCD display is ranging from 0 to 70 When there is no line detected on LCD the position value will be shown as If sensor UO detected a line the line position reading shown on LCD will be 0000 Likewise if a line is detected on sensor U7 the position shown will be 0070 The position value varies in between linearly Line position with no line detected No line detected Position 00 UO detect the dark line Created by Cytron Technologies Sdn Bhd All Rights Reserved 19 C Vr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSA08 Position 70 U7 detect the dark line If a line is at the middle of the LSA08 U3 and U4 the LCD display will show the position as 35 Created by Cytron Technologies Sdn Bhd All Rights Reserved 20 Cytron 5
19. ternal LCD to operate Created by Cytron Technologies Sdn Bhd All Rights Reserved 8 C Vr on 5 ROBOT HEAD to TOE Technologie Product User s Manual LSA08 H Port B provided for digital output port I Port A provided for analog and UART port J Power indicator LED green showing the board is supplied with power Maximum input power is 5V Bottom Pairs of IR Sensor e gh tm eek oe ie 2 4 6 8 10 42 44 16 Created by Cytron Technologies Sdn Bhd All Rights Reserved 9 C Vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 5 INSTALLATION HARDWARE LSA8 has it power from Vin and Gnd pin of PORT A and PORT B Vin voltage is 12V The picture below is an example of hardware connection setup for LSAO8 User may use either PORT A or PORT B or both PORTS at the same time If PORT C is used for the external LCD please ensure that mini jumper is set to Ext at JP4 ae ee selelalest A namna n eee OL OL ele le Port A with external LCD Created by Cytron Technologies Sdn Bhd All Rights Reserved 10 C vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 GRGCCECCE WVOOGOHS Port B with external LCD Int is set to use internal LCD Created by Cytron Technologies Sdn Bhd All Rights Reserved 11 C Vr on ROBOT HEAD to TOE Technologie Product User s Manual LSA08 a eee ee CR te ee renee gt a ae
20. tron Technologies Sdn Bhd All Rights Reserved 34 Technologie C yer on gt ROBOT HEAD to TOE cE _ Product Users Manual L308 7 WARRANTY VVV Y Product warranty is valid for 6 months Warranty only applies to manufacturing defect Damage caused by misuse is not covered under warranty Warranty does not cover freight cost for both ways Prepared by Cytron Technologies Sdn Bhd 19 Jalan Kebudayaan 1A Taman Universiti 81300 Skudai Johor Malaysia Tel 607 521 3178 Fax 607 521 1861 URL www cytron com my Email support cytron com my sales cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved 35
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