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Step 11IR Beacon
To help aid in navigation, I created an IR Beacon which transmits the same IR codes as the Create and Roomba IR Remotes, except you can tell it to transmit whatever byte you want. It transmits the desired byte about every 200ms. If the Create is driving by the beacon then you'll see the IR Char in the Sensor Data of the Creates built-in IR Receiver (you don't have to build an IR receiver for this IR Beacon, it's Create Compatible).
The Create does a pretty good job with Distance calculations based on it's wheel encoders. But there is still a little slippage here and there to cause it to get skewed over time. Something was necessary to re-orient the Create every so often so these Beacons (after testing with RFID) were the easiest to implement. With one beacon to cross somewhere on the X axis, and the Docking Station somwhere on the Y axis, the Create has been able to traverse the same path endlessly without intervention.
I put a 1" piece of Drip Tubing on the LED to narrow the beam to increase the Creates distance accuracy.
So far, this beacon has been running off 2 AA batteries for several weeks straight. I'm sure it could be tweaked much more for optimal run-time.
This could be a perfect lead-beacon for the Robo-Bellhop. Easier to build and smaller to conceal in a belt or strap. It works great with Adaptive Mapping as a way to occasionally recalibrate it's position.
The Create does a pretty good job with Distance calculations based on it's wheel encoders. But there is still a little slippage here and there to cause it to get skewed over time. Something was necessary to re-orient the Create every so often so these Beacons (after testing with RFID) were the easiest to implement. With one beacon to cross somewhere on the X axis, and the Docking Station somwhere on the Y axis, the Create has been able to traverse the same path endlessly without intervention.
I put a 1" piece of Drip Tubing on the LED to narrow the beam to increase the Creates distance accuracy.
So far, this beacon has been running off 2 AA batteries for several weeks straight. I'm sure it could be tweaked much more for optimal run-time.
This could be a perfect lead-beacon for the Robo-Bellhop. Easier to build and smaller to conceal in a belt or strap. It works great with Adaptive Mapping as a way to occasionally recalibrate it's position.
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Can you tell me about how far this beacon can reach out? (IR can be seen through a camera btw) and if you have any ideas to extend the range...? I will try mine again using some different IR Leds in case that was the issue, but any input you can provide would also be helpful.
Thanks