Troubleshooting

Alot of things can cause you sensor to not work or not work well. Frankly, i don't remember most of the things i had to troubleshot through because that was back in November at the beginning of the very long construction of this robot. But i can tell you to watch out for noise. I didn't implement the low pass filter like the PVS data sheet suggested because i was not too worried about the accuracy of the pixel data, as long as it was close. But a few percent of the readings are incorrect and detecting false peaks are probably to blame. Also, make sure the system is optically as accurate as possible. If the laser does not point perpendicular to the base of your sensor, error for distances will vary wildly depending on range. Also make sure that the linear sensor is properly aligned. Trying to get a microscopic point of light to stay on the extremely thin line of pixels throughout the entire range is very difficult. I didn't come up with any good ways to make that easy, I watched to signal on the oscilloscope while holding the sensor with one hand and a hot glue gun in the other. Once i was happy i loaded the thing up with glue and hoped it stayed, real scientific.

There are probably a few things that can be improved on too. You should try adjusting the base size to suite the resolution you want. A small base will make for very high resolution close up but very poor far away, and vice versa. For my sensor i could only make the base size about 5 cm because of the need to mount it vertically and the height limit of the competition. If your sensor doesn't need high speeds you could probably use an integrated ADC on a microcontroller to reduce part counts. You could also try some kind of amplification and filtering of the video signal so lower power and cheaper lasers can be used. From what i tried, a red laser pointer showed up pretty well.

That's It!

Good luck with your project. I hope my experiences inspire others to be creative and show up with new ideas for 2004. Its about time some people shifted their efforts from being the fastest to achieve one scripted task to elegantly achieving many more general tasks.

If i forgot anything or completely confused anyone be sure to email me so i can update this page. Oh, and sorry for the confusing and meaningless sentences, i'm an engineer.

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