oIRPD Object

Description
Operation
Properties

Examples
Connections
Related
Version History & Bug list

The oIRPD Object is a Hardware Object that reads an Infrared Proximity Detector (IRPD) to see if there are any obstacles in front of it. An IRPD provides a "no contact" obstacle detection system.

The oIRPD Object calculates a value based on the detection of obstacles in three separate quadrants. Front, Right, and Left.

The following table lists the size and availability of the oIRPD Object.

Object	Size	Description	A1	A2	B1	B2	C1
oIRPD	5 Bytes	Reads a Lynxmotion Dual IR Proximity Detector.				x	x
oIRPD2	5 Bytes	Reads a Lynxmotion Dual IR Proximity Detector. (same as oIRPD)				x	x

Operation:

An oIRPD Object uses 3 I/O Lines to read a Infrared Proximity Detector.

When the Operate property is set to 1, the Infrared Proximity Detector is scanned to see if there are any obstacles in front of it. After scanning, a value indicating the reflection state is calculated.

The four oLogic properties; Center, Left, Right and Detected are also update each time the reflection state is determined. The three properties; Center, Left and Right are exclusive and only one will be true at any time, while the Detected property is true if the Position property is any value other than 0 which indicates that the light from either or both of the IR LEDs is being reflected.

The FeedBack property is an instance of the oFeedBack2 Object which is created when the oIRPD Object is. The oIRPD Object uses the oFeedBack2 Object to do the actual control of the IRPD and when the oIRPD object is created, it configures the oFeedBack2 object in such a way that it will provide the proper I/O control to read the Lynxmotion IRPD Module. (see oFeedBack2 Object for more detail on how the IRPD is read.)

Properties:

The following table lists the properties of the oIRPD Object:

Property
Description

Position

A value that indicates the position of the item the detector sees.

Object Class: oValue Value Range: 0 - 3

Data Type: Numeric Default Value: 0

Position Description

0 Nether of the IR LEDs are reflecting back to the IR sensor.

1 The light from just the left IR LED is reflecting back to the IR sensor.

2 The light from just the right IR LED is reflecting back to the IR sensor.

3 The light from both IR LEDs are reflecting back to the IR sensor.

Detected

A value that indicates if the detector sees an item.

Object Class: oLogic Value Range: 0 - 1

Data Type: Numeric Default Value: 0

Left

A value that indicates if the detector sees an item to the left side.

Object Class: oLogic Value Range: 0 - 1

Data Type: Numeric Default Value: 0

Centered

A value that indicates if the detector sees an item to the front.

Object Class: oLogic Value Range: 0 - 1

Data Type: Numeric Default Value: 0

Right

A value that indicates if the detector sees an item on the right side.

Object Class: oLogic Value Range: 0 - 1

Data Type: Numeric Default Value: 0

IOLineL

A value that specifies which I/O Line is connected to the left side IR LED connection.

Object Class: oIOLine Value Range: 0 - 31

Data Type: Numeric Default Value: 0

Some I/O Lines have special purposes. Be sure to see oIOLine help file for details.

IOLineR

A value that specifies which I/O Line is connected to the right side IR LED connection.

Object Class: oIOLine Value Range: 0 - 31

Data Type: Numeric Default Value: 0

Some I/O Lines have special purposes. Be sure to see oIOLine help file for details.

IOLineS

A value that specifies which I/O Line is connected to the IR Sensor connection.

Object Class: oIOLine Value Range: 0 - 31

Data Type: Numeric Default Value: 0

Some I/O Lines have special purposes. Be sure to see oIOLine help file for details.

Operate

A value that selects whether or not the detector is being read.

Object Class: oOperate Value Range: 0 - 1

Data Type: Numeric Default Value: 0

Operate Constant Description

0 cvOff The detector is not read.

1 cvOn The detector is read.

FeedBack

The I/O function object used to read the Lynxmotion IRPD.

Object Class: oFeedBack2 Value Range: 0 - 255

Data Type: Numeric Default Value: 0

Address

Returns a pointer to the address of the oCounter Object instance.

Object Class: oAddress Value Range: 0 - 127

Data Type: Pointer (Read Only) Default Value: Address of Object

Examples:

In the following example, the oIRPD Object is used to read a Lynxmotion IRPD.

Visual Basic Syntax

C and Java Syntax

'This program creates an oIRPD Object.
'It then uses 4 oWire Objects to copy
'the left, right and center property 
'values to LEDs to show the results
'of the IRPD.

Dim A As New oIRPD

Dim WL As New oWire
Dim LedL As New oLED
Dim WC As New oWire
Dim LedC As New oLED
Dim WR As New oWire
Dim LedR As New oLED
Dim WF As New oWire
Dim LedD As New oLED

Sub Main()
  A.IOLineL = 7
  A.IOLineR = 6
  A.IOLineS = 5
  A.Operate = 1
  LedL.IOLine = 29
  LedL.Brightness = 7
  WL.Input.Link(A.Left)
  WL.Output.Link(LedL.Operate)
  WL.Operate = 1
  LedC.IOLine = 30
  LedC.Brightness = 7
  WC.Input.Link(A.Center)
  WC.Output.Link(LedC.Operate)
  WC.Operate = 1  
  LedR.IOLine = 28
  LedR.Brightness = 7
  WR.Input.Link(A.Right)
  WR.Output.Link(LedR.Operate)
  WR.Operate = 1  
  LedD.IOLine = 31
  LedD.Brightness = 7
  WF.Input.Link(A.Detected)
  WF.Output.Link(LedD.Operate)
  WF.Operate = 1  
End Sub

// This program creates an oIRPD Object.
// It then uses 4 oWire Objects to copy
// the left, right and center property
// values to LEDs to show the results
// of the IRPD.

oIRPD A = New oIRPD;

oWire WL = New oWire;
oLED LedL = New oLED;
oWire WC = New oWire;
oLED LedC = New oLED;
oWire WR = New oWire;
oLED LedR = New oLED;
oWire WF = New oWire;
oLED LedD = New oLED;

Void Main(Void){
  A.IOLineL = 7;
  A.IOLineR = 6;
  A.IOLineS = 5;
  A.Operate = 1;
  LedL.IOLine = 29;
  LedL.Brightness = 7;
  WL.Input.Link(A.Left);
  WL.Output.Link(LedL.Operate);
  WL.Operate = 1;
  LedC.IOLine = 30;
  LedC.Brightness = 7;
  WC.Input.Link(A.Center);
  WC.Output.Link(LedC.Operate);
  WC.Operate = 1;
  LedR.IOLine = 28;
  LedR.Brightness = 7;
  WR.Input.Link(A.Right);
  WR.Output.Link(LedR.Operate);
  WR.Operate = 1;
  LedD.IOLine = 31;
  LedD.Brightness = 7;
  WF.Input.Link(A.Detected);
  WF.Output.Link(LedD.Operate);
  WF.Operate = 1;
}

Basic Syntax

'This program creates an oIRPD Object.
'It then uses 4 oWire Objects to copy
'the left, right and center property 
'values to LEDs to show the results
'of the IRPD.

Dim A As New oIRPD(7,6,5,cvOn)

Dim WL As New oWire(A.Left,,LedL.Operate,,cvOn)
Dim LedL As New oLED(29,7,,cvOff)

Dim WC As New oWire(A.Center,,LedC.Operate,,cvOn)
Dim LedC As New oLED(30,7,,cvOff)

Dim WR As New oWire(A.Right,,LedR.Operate,,cvOn)
Dim LedR As New oLED(28,7,,cvOff)

Dim WF As New oWire(A.Detected,,LedD.Operate,,cvOn)
Dim LedD As New oLED(31,7,,cvOff)

Connections:

The Lynxmotion IRPD uses 3 I/O lines. Any of the three can be any 3 I/O lines of the ooPIC's 31 I/O lines. The IRPD uses a 9 volt power input to operate.

Lynxmotion IRPD

Pin	Name	Description	I/O Name	ooPIC I/O Line
1,2	+9v	+9 Volts power		+V
3	LLED	Left IR LED control	IOLineL	Any
4	RLED	Right IR LED control	IOLineR	Any
5	SOUT	IR Sensor Out	IOLineS	Any
6	+5v	+5 Volts power
7,8	Gnd	Ground		Gnd