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Hall Effect Sensor.
The 2005 kit came with something a Hall Effect Sensor, after a bit of looking I found the manual for it, it's actually a ATS665LSG made by Allegro Microsystems. Allegro desribes it as a True Zero Speed, High Accuracy, Gear Tooth Sensor. What does that mean? Is this the "gyro" for this year? And does this work in congunction with the accelerometer. There are two of Hall Effect sensors so it seems we need to use them in twos. Also the Allegro manual mentions gears and gear tooth length. So I'm a bit confused and a bit curious and maybe even a bit excited. Anybody know anything about the Hall effect?
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My GUESS is that you would use these to count gear teeth - used for feedback to determine how fast/far your robot moves, or for sensing the motion of anything else using chain/sprocket. However ours were missing when we did our kit inventory ...
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This is not a gyro. A gyro returns your angular acceleration (NOT your angular heading... you would need to integrate the acceleration to get that) |
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Nixterrimus, Is Ken Wittlief still on your team? He should be able to explain the sensors and demonstrate their usage.
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This is a neat article I found on calculating heading with a rate gyro.
http://www.seattlerobotics.org/encod...onal_gyro.html Not sure if FIRST provides us with this code though, I'll have to dig deeper into the documentation and report back. [EDIT] I found this article from a Hall Effect sensor manufacturer about how they work. http://www.micronas.com/products/ove...sors/index.php [/DIT] |
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:o I thought that a lot of it was out there, I suppose I'm looking for just an intro to the hall effect. |
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Using a gyro to measure the robot's heading is pretty common with FIRST robots. The parts teams used last year are the Analog Devices ADXRS150EB and ADXRS300EB. The only difference is that the 150 can measure +- 150 degrees per second and the 300 measures up to 300 degrees per second. Lots of posts describing how to do it. |
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Sparks |
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To clear things up, the HAL effect sensors have NOTHING TO DO WITH ACCELERATION, OR HEADING. They are a type of sensor that detects the presence of ferrous materias. They are designed to be mounted up against(but not touching) the teeth of a gear in a gearbox or other assembly. They will output 1 pulse for each gear tooth that goes by them. If for example you were to connect them to your drivetrain, you could count the number of pulses they output to figure out how far your robot had traveled. It is also possible to use them to determine the speed at which your robot (or some subassembly) is moving.
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