amperka/octoliner@0.1.5

License: AGPL-3

Library to work with the "Octoliner" breakout board by Amperka. "Octoliner" represents 8-channeled infrared line sensor based on TCRT5000 optocouplers and the GPIO ports expander controlled throuht the I2C bus.
NodeDescription
example-channel-by-channel
Example of Octoliner displaying tint values from all sensors.
example-line-tracking
Example of Octoliner tracking a line.
map-line
Converts the IR sensors data into a line tracking value that determines the Octoliner board position relative to the line.
octoliner
A quick-start node which represents sequential reading of all sensors installed on the Octoliner board. Outputs eight tint values according to eight IR oprocoupler sensors. On boot node initialasizes the oprocoupler sensors and sets up their default brightness and sensitivity parameters. Possible errors: — Invalid I2C address
octoliner-device
Constructs an octoliner-device value for the Amperka Octoliner. Possible errors: — Invalid I2C address
octoliner-line
A quick-start node which represents Octoliner board tracking the line. The line tracking values lays in the range [-1,1]. The 0 value shows that line is at the center position relative to the sensors (between CH3 and CH4). The -1 value corresponds to the extreme left position (CH0) while the 1 to the extreme right (CH1). On boot node initialasizes the oprocoupler sensors and sets up their default brightness and sensitivity parameters. Possible errors: — Invalid I2C address
read-channel
Reads the tint value from a certain channel of the Octoliner board.
set-brightness
Sets the IR LEDs brightness for all Octoliner sensors.
set-sensitivity
Sets the senitivity of IR photodetectors for all Octoliner sensors.
To use the nodes in your project you should have the amperka/octoliner library installed. Use the “File → Add Library” menu item in XOD IDE if you don’t have it yet. See Using libraries for more info.