Welcome to the Robolink Community forum!
bottom IR sensors looks inconsistent
-
I have tested IR sensors and noticed that bottom left and right IR sensor values are not consistent.
I used the following script to check sensor values.
from zumi.zumi import Zumi zumi = Zumi() ir_datas = zumi.get_all_IR_data() front_right = ir_datas[0] bottom_right = ir_datas[1] back_right = ir_datas[2] bottom_left = ir_datas[3] back_left = ir_datas[4] front_left = ir_datas[5] print("IR datas:\nFront left {}, right {}\nBack left {}, right {}\nBottom left {}, right {}\n" .format(front_left, front_right, back_left, back_right, bottom_left, bottom_right))
Upside down
IR datas: Front left 171, right 172 Back left 163, right 133 Bottom left 239, right 240
All sensor values are large because there are no obstacle to reflect IR radiation.
It looks fine.Obstacle in front of zumi
IR datas: Front left 29, right 14 Back left 157, right 132 Bottom left 13, right 68
Front IR sensor values become smaller due to obstacle.
Bottom IR sensor values also become smaller, but there are more than 50 discrepancy between left and right values.Obstacle behind zumi
IR datas: Front left 168, right 180 Back left 18, right 13 Bottom left 13, right 76
Back IR sensor values become smaller due to obstacle.
Box bellow zumi
IR datas: Front left 169, right 173 Back left 158, right 132 Bottom left 39, right 113
Floor of zumi are changed from white paper to cardboard box.
There are still large difference between left and right IR sensor values.
Do you have any idea why bottom left and right sensor values are so different? -
@robolink_leila Thank you very much for your quick reply.
I see, I will use different threshold for each IR sensors! -
@nohzen Not all IR sensors will be exactly the same so that behavior is very normal. Just set different thresholds for each IR sensor for detecting objects