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Manfred
Code:
DYNAMIXEL AX-S1
의 밝기가 일정 밝기 이상 밝은 것이므로 조명감지 유무(Light Detected)의 그 센서에 해당하는 비트가 ‘1’로 셋팅되며, 기준값보다 작으면 조명이 기준보다 어두운 것이므로‘0’으로 셋팅된다. 빛감지 기준값(Light Detect Compare Value)은 ROM(Address 0x15)과 RAM(Address 0x35) 두 곳에 할당이 되어 있는데, 전원이 On될 때 EEPROM의 값이 RAM으로 복사된다. 이어질 Address 0x18부터는 RAM 영역이다.
DYNAMIXEL AX-S1
The lucidity is and above the schedule lucidity dawning illumination perception presence (Light Detected) the bit which corresponds to that sensor when baseline value than at `1' three [thing] to become it is smaller and the illumination standard step the all dark thing is three [thing] becomes at `0'. Light perception baseline value (Light Detect Compare Value) ROM (Address 0x15) with RAM (Address 0x35) the place where becomes the allocation in two places, when all the member becomes On, the price of EEPROM was copied with RAM all. From Address 0x18 where it will be joined together they are RAM territories.
Address 0x1A~0x1C 적외선 거리센서 값 (Left/Center/Right). Dynamixel Sensor Module의 거리측정용 적외선 센서값이다. AX-S1에 있는 적외선 발광부에서 강하게 적외선을 쏘면, 벽이나 물체에 적외선이 반사되어 되돌아오게 되는데, AX-S1에 있는 적외선 수광부 센서에서 이 반사되는 적외선의 양을 측정한 것으로, 벽이나 물체가 가까이 있을수록 높은 값으로 측정된다. 측정된 값은 0~255의 범위를 가지며, 일정거리 안에 들어오면 255만 나올 수 있다. 적외선 측정 방식이기 때문에 벽이나 물체의 색상이나 표면 질감에 따라 적외선 반사율이 차이가 있으므로 측정값에 차이가 생길 수 있다.
Address 0x1A~0x1C infrared ray distance sensor price (Left/Center/Right). Dynamixel it is Sensor Module judging distance infrared ray sensor price. Shooting the infrared ray strongly from the infrared ray radiation department which is to AX-S1, the wall or the infrared ray being reflected in the object, it came back and the place, at the price where the wall or the object nearly recording which will be is high from the infrared ray possibility miner sensor which is to AX-S1 this with the fact that it measures the sheep of the infrared ray which is reflected, it was measured all. The price which is measured has 0~255 scope and it comes in 255 bays there is the inside schedule distance and a possibility of coming out. Because is an infrared ray measurement method it follows at or ostensible material feeling color of the wall or the object and the infrared ray reflexibility difference is a possibility the difference getting in measurement price.
Address 0x1D~0x1F 조명밝기 센서값 (Left/Center/Right). Dynamixel Sensor Module의 조명감지 센서값이다. 적외선 센서값과 동일한 개념이나, 적외선 발광부를 켜주지 않고 측정한 것으로, 조명에서 나오는 적외선만을 측정할 수 있다. 따라서 백열전구 같은 적외선이 많이 나오는 조명에서 조명감지 센서값이 측정될 수 있으며, 라이터나 촛불과 같은 불도 근거리에서 측정이 가능하다. 측정된 값은 0~255의 범위를 가진다.
Address 0x1D~0x1F illumination lucidity sensor price (Left/Center/Right). Dynamixel it is Sensor Module illumination tilt sensor price. The conceptual or infrared ray radiation which is identical with an infrared ray sensor price it will call and to light it is not widely known and with the fact that it measures, it will be able to measure only the infrared ray which comes out from an illumination. The illumination tilt sensor price could be measured from the illumination where the consequently the glow lamp same infrared ray comes out plentifully, with the lighter or the candlelight the measurement is possible from same Buddhist short distance. The price which is measured has 0~255 scope.
Address 0x20 물체감지 유무. AX-S1의 적외선 거리센서 값이 거리감지 기준값보다 크면 물체가 감지되었다고 판단하여 물체감지 유무값의 특정 Bit을 1로 셋팅해 준다. 각 센서가 나타내는 Bit은 아래 표를 참고한다. Bit내 용Bit 2 우측 센서 물체감지/조명감지 됨Bit 1 중앙 센서 물체감지/조명감지 됨Bit 0 좌측 센서 물체감지/조명감지 됨
Address 0x20 object perception presence. When AX-S1 infrared ray distance sensor price grew distance perception baseline value compared to and the object was perceived, about under judging Bit at 1 three [thing] to be specific an object perception presence price. Bit where each sensor shows refers to the lower part ticket. Bit Bit 2 right side sensor object perception the inside/illumination Bit 1 center sensor object perception/the illumination which is perceived Bit 0 left sensor object perception/the illumination which is perceived it is perceived
Address 0x20 물체감지 유무. AX-S1의 적외선 거리센서 값이 거리감지 기준값보다 크면 물체가 감지되었다고 판단하여 물체감지 유무값의 특정 Bit을 1로 셋팅해 준다. 각 센서가 나타내는 Bit은 아래 표를 참고한다.
Bit내 용
Bit 2 우측 센서 물체감지/조명감지 됨
Bit 1 중앙 센서 물체감지/조명감지 됨
Bit 0 좌측 센서 물체감지/조명감지 됨
Address 0x20 object perception presence. When AX-S1 infrared ray distance sensor price grew distance perception baseline value compared to and the object was perceived, about under judging Bit at 1 three [thing] to be specific an object perception presence price. Bit where each sensor shows refers to the lower part ticket.
Bit inside
Bit 2 right side sensor object perception the inside/illumination
Bit 1 center sensor object perception/the illumination which is perceived
Bit 0 left sensor object perception/the illumination which is perceived it is perceived
Zitieren
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Zitat von UlrichC
(das ist übrigens in Englisch). Es ging mir um die Seiten 15 bis 18 der Beschreibung des Sensormoduls AX-S1, welche man als PDF-Datei 114359179868.pdf auf der Robotis-Website http:// www.robotis.com in folgendem Zweig findet: DATA / Product Manual / AX-S1 manual(korean) findet . Sorry, die Website läßt einen direkten Link dorthin nicht zu.
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