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Forward Until Dark
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NXT Light Sensors
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NXT Light Sensors
• How does the Light Sensor detect brightness?
• The Light Sensor shines a red light on the surface below it and reports how much of that light is reflected back.A bright surface will reflect a lot of light and give a high reading. A dark surface will reflect less light and give a low reading.
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Forward Until Dark Program
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Establishing The Threshold
• On the NXT – Select the View Mode– Select Reflected Light– Select Port 3
• Position the robot over the surface to be read by the light sensor as shown in the next two slides
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Establishing The Light Threshold
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Establishing The Dark Threshold
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Calculating The Threshold
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Motor Block One Details
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Light Sensor Block Two Details
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Motor Block Three Details
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Test Your Robot
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Forward Until Light
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Forward Until Light Light Sensor Block Two Details
Wait for the Light Sensor on Port 3 to get a Light reading
Light = Light Sensor value>Threshold value
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Test Your Robot
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Calculating Thresholds Quiz
Would the robot classify the following Light Sensor readings as Light or Dark?
a. Sensor = 15 with Threshold = 40
b. Sensor = 55 with Threshold = 40
c. Sensor = 49 with Threshold = 56
d. Sensor = 15 with Dark = 10 and Light = 30
e. Sensor = 55 with Dark = 43 and Light = 62
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Calculating Thresholds Quiz Answers
a. Sensor = 15 with Threshold = 40Sensor value is less than Threshold therefore it is darkb. Sensor = 55 with Threshold = 40Sensor value is greater than Threshold therefore it is lightc. Sensor = 49 with Threshold = 56Sensor value is less than Threshold therefore it is dark
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Calculating Thresholds Quiz Answers
d. Sensor = 15 with Dark = 10 and Light = 30The threshold is (10+30)/2=20 The Sensor Value is less than Threshold, therefore it is Dark. Intuitively - the Sensor value is closer to Dark than Light,
therefore it is dark e. Sensor = 55 with Dark = 43 and Light = 62 The threshold is (43+62)/2=52 The Sensor Value is greater than Threshold, therefore it is Light. Intuitively - the Sensor value is closer to light than dark. Therefore it is light.