The sensor bar contains sixteen infrared reflective sensors which are continuously measuring surface reflectivity. Two automotive analog multiplexers are used to address each sensor individually.
Analog multiplexers reduce the number of signal wires
Variable pitch increases measurement area while maintaining accuracy
ARM Cortex M4F Microcontroller
STM32F303 microcontroller features two 5 MSPS ADC peripherals which are used to read the infrared sensors at a rate above 10KHz. DSP and FPU instruction support allow the control loops to run faster and minimize response times.
Replaceable board module featuring an MPU6500 IMU
Input data is processed onto multiple control loops
PID Algorithm adjusts robot position across a wide range of speeds