API for the RPR220-based Grove IR Reflective Sensor. More...

Detailed Description

ID: rpr220
Name: Infrared (IR) Reflective Sensor
Other Names: Grove IR Reflective Sensor
Category: light
Manufacturer: seeed
Link: http://www.seeedstudio.com/wiki/Grove_-_Infrared_Reflective_Sensor
Connection: gpio
Kit: tsk hak

UPM module for the Grove IR reflective sensor. The sensitivity can be adjusted with the potentiometer on the sensor module. It has a range of approximately 15 mm, and a quick response time.

It detects high-contrast dark areas on a light background.

This module allows the user to determine the current status (black detected or not). Additionally, if desired, an interrupt service routine (ISR) can be installed that is called when black is detected. Either method can be used, depending on your use case.

    // This example uses a simple method to determine current status
    // Instantiate an RPR220 digital pin D2
    // This was tested on the Grove IR Reflective Sensor
    upm::RPR220 rpr220(2);
    while (shouldRun) {
        if (rpr220.blackDetected())
            cout << "Black detected" << endl;
        else
            cout << "Black NOT detected" << endl;
        upm_delay_us(100000); // 100ms
    }

    // This example uses an interrupt handler to increment a counter
    // Instantiate an RPR220 digital pin D2
    // This was tested on the Grove IR Reflective Sensor
    upm::RPR220 rpr220(2);
    // Here, we setup our Interupt Service Routine (ISR) to count
    // 'black' pulses detected.
    rpr220.installISR(rprISR, NULL);
    while (shouldRun) {
        cout << "Counter: " << counter << endl;
        upm_delay(1);
    }