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- Kompas magnetik, sebagai penentu arah
- Menghasilkan bilangan tertentu yang mewakili kemana arah robot sedang menghadap
- Menggunakan sensor medan magnet KMZ51 buatan Philips
PenomoranPin
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DeskripsiPin
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Pin Suplai:
Pin 1 : +5VDC
Pin 0 : GND
Konsumsiarussekitar15mA
Pin No-Connect
Pin 5 & 8
Pin Output:
Pin 2 & 3 : I2C, no pull-up
Pin 4 : PWM
DeskripsiPin
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a.Pin reduksierror:
-Pin 7
-Pull-up on-board (60Hz)
-Berilogikalow untukreduksi50Hz
b.Pin kalibrasi:
-Pin 6
-Pull-up on-board
Membacaoutput
- Terdapat2 caramembacaoutput:
- PWM (Pulse Width Modulation)
- I2C (Inter-Integrated Circuit)
Membacaoutput: denganPWM
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- Pulsaberlogikahigh (tH) menyatakanderajat
- 0 derajat: tH = 1 mili-detik
- 359.9 derajat: tH = 36.99 mili-detik
- Dengan kata lain: 100 mikro-detiktiap1 derajatdenganoffset 1 mili-detik
- Pulsaberlogikalow (tL) selama65 mili-detik
- Pin 2 & 3 diberipull-up 47k keVcc
Membacaoutput: denganI2C
- KontrolerberkomunikasimenggunakanprotokolI2C
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Program pembacaan
denganI2C
Program:
- I2C_start()
- I2C_write(0xC0)
- I2C_write(0x01)
- I2C_start
- I2C_write(0xC1)
- data = I2C_read(0)
- I2C_stop()
Register yang diakses
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1 comment:
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