IR Receiver Board

Frequency select

Exposure control

Intensity output amplifier

selector

Tuning circuit

Exposure Control

Reset to detector #0

sensitivity

0 1 2 3 4 5 6 7

counter 8 4 2 1 reset

count

Infrared detectors VEX

Controller

AD1

AD14

AD15

AD16

Circuit board

Side view Top View

Longer lead

Board edge

GlobalVariables

Main() for GOTO_Beacon Program

Call three functions

Note: you need to change freq for the beacon you want to find!

amplifierTuning circuit

From previous stage

1kHz To next stage

Beacon Frequency Selection(filter)

AD14Freq select (0=1kHz, 1=10kHz)

Read_PD() Function

1

1

0

0

Infrared Detectors

Selector

1

10

To next stage

counterLEDs

1kHz

AD16 Counter reset

AD15 pulse

IR Detector Selection

1

1

0

Count output set to zero

Get ready to count

Increment count (0 to 1 transition)

amplifierTuning circuit

From previous stage

1kHz To next stage

Beacon Frequency Selection(filter)

AD14Freq select (0=1kHz, 1=10kHz)

Exposure Control Circuit

AD15

From previous stage

To AD1

(VEX Analog input)

Amplifier

1 Clear ‘film’ (discharge C14)

0 Open ‘shutter’ (allow C14 to charge)

expose_and_read() Function

Main() for GOTO_Beacon Program

Find maximum intensity

find_max() Function

Main() for GOTO_Beacon Program

Move the robot

Move() Program

limit_pwm() Program