[Jogo]

Our team has been trying to use the XL-MaxSonar EZ4 in order to determine the height of our manipulator (by placing the sensor on the floor and pointing it vertically upwards at a 1 sq. foot piece of lexan on the bottom of our elevator). However, we are having trouble getting consistent data. We have the sensor detecting objects at distances of 20 feet accurately straight ahead, but when looking up at our manipulator it loses accuracy and claims that the manipulator is much closer than it really is. We've tried placing a felt cone around the sensor, which seemed to improve the data a little but not consistently.

Any advice? If you don't think ultrasonic is a viable solution, maybe you could suggest an alternate method/sensor? Would rather not use encoder but probably will if there is no (easy) way to measure absolute height.