I.

LED HNG NGOI

Hnh 1led hng ngoi

Mch thu pht hng ngoi thng thng .Lu l led thu phi lp theo chiu ngc .

Gii thch nguyn l :khi led thu khng nhn c tn hiu t led pht ,in tr ca led thu rt ln ,V2>V3 => li ra in p bng 0 ,khi led thu nhn c tn hiu t led pht ,in tr ca led thu gim xung mnh (s gim ph thuc vo cng led pht ),khi V2<V3=>li ra in p bng 5v . Trong micromouse haii led thu pht t xong xong nhau :

Khi gp bc tng mu trng tn hiu hng ngoi s phn x ngc li ,cn trng hp gp vt mu ti cng nh khng gp vt cn s khng c tin hiu phn x li led thu .Mch ny hay s dng nht ,khong thu c th ln ti 30cm .Tuy nhin trong mt s trng hp mch trn hay b nhiu ,do led hng ngoi nhy cm vi nh sng .Tn hiu nhiu c th l nh sng n in (tn s 50hz ),nh sng mt tri .... gii quyt nhiu do nh sng n in ta s dng mach sau :

Tn hiu nhiu tn s thp b lc qua mch lc thng cao gm t C2 v tr R4 .Tn hiu u vo led thu l xung c tn s khon 1k-10k ,tn hiu ra ta thu c cng l xung c tn s nh tn hiu vo ,v vy mun a tn hiu vo vi iu khin ta phi a qua b lc nh . Cn nhiu do nh sng mt tri cc bn c th mc song song mt led hng ngoi vi bin tr VR1 , b tr s sp p do anh sng mt tri ln led thu Q1 .Hoc c mt cch n gin hn l ta ly ng nha mu en che led thu li ,cch ny rt hiu qu v mch ca ta lc cng gn gng hn .Theo ti ta ln dng cch ny v mch va gn gng , tn nng lng ,h s tin cy li cao hn l dng nhiu linh kin in t .

II.CCH B TR LED TRN ROBOT nhn bit cc bc tng trong lc di chuyn ta c th b tr led cm bin theo cc cch sau :

B tr theo hng thng v ngang

B tr theo hng thng v cho Theo mnh th b tr led theo phng n hai l ti u hn phn n mt .Tuy nhin ta ln kt hp

c hai cch .Cc led thng v ngang dng nhn bit s c mt ca bc tng cn led cho dng cn chnh khong cch ti cc bc tng .Dng led cho cn chnh l tt hn c . xa ca led ta ln t khong mt (tc l 18 cm ) hoc nh hn .Ph thuc vo kch thc chut ca bn .Khng nn t nhy qu v c th b phn x bi bc tng xa hn cn thit .