Questions

1. What would the relative sensitivity of the IR detector be if you use tone to send a 35 kHz signal?  What is the relative sensitivity with a 36 kHz signal?
2. What keyword is used to declare a constant?
3. What statement is used to sweep through the list of frequencies used for IR distance measurements?
4. What’s a summing junction?
5. In our closed loop proportional control block diagrams, what two values are used to calculate the error term?
6. How do delays in the loop function contribute to setting the sampling rate?

Exercises

1. Write a segment of code that does the frequency sweep for just four frequencies instead of five.
2. Write global constant declarations that initialize kpl as –45 and kpr as –55. 

Projects 

1. Write a sketch that allows you to hold your hand in front of the BOE Shield-Bot and push it backwards and forwards with no turning.