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Originally Posted by alexrobotics
We have a question regarding the IR Sensing system using tracker.zip. We are experiencing no servo motion to find the IR Beacon. Our current set-up is as follows:
Our left servo is in PWM 1, right servo in PWM 2.
Our IR Sensors for left to right go as follows: Left most sensor is in Digital I/O 3, the other left sensor is in Digital In/Out 4, the right sensor is in Digital In/Out 5, and the right most sensor is in Digital In/Out 6.
We have read about the robot doing a spin to find the beacon, and our robot seems to move but the servos show no motion. We’ve also read about a beacon type selector switch. Is this something we make???? Little to nothing is known about this switch. We saw it referred to in the tracker.c file.
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If you are using tracker.zip "as is" then your robot will not move at all. It has no driving commands incorporated. It only moves the servos to search for the beacon. The "navigate" code demonstrates how you can move your robot.
Dave's note on the 7.2v battery sounds like the most likely explanation of your problem. The servos (on PWM01 & 02) should "search" even if the IR sensors aren't connected at all.
The beacon switch is something you'll need to have eventually, like the left/right field switch. It might be easier to think of it and implement it as a Blue/Red alliance switch. (There is a way to automate this, but I wouldn't suggest you try it.) For now you can hardcode it to the type-0 beacon on the EDU controller PWM1 output. In tracker.h you'll find the line:
Code:
#define DESIRED_BEACON_TYPE rc_dig_in07 // this assumes that rc_dig_in07 is a digital input
For testing just change it to:
Code:
#define DESIRED_BEACON_TYPE 0 // hardcode beacon to type-0 (PWM1 on EDU)