As part of developing the design for the Palm Pilot Robot, we measured the performance of the various components. This page documents the specifications of each component and the results of our calibration experiments. Pontech s SV203 board was used to connect the Palm Pilot to servomotors and infrared rangefinders.
All communication is done by sending and receiving short strings.
Sharp GP2D12 infrared triangulation sensors were used to measure distance from the robot to an obstacle. Please refer to the section below title Test of GP2D12 Infrared Rangefinder for details of the sensor s performance and accuracy. The SV203 converts the analog sensor outputs into an integer reading as a value ranging from 0 to 255. The graph below shows a relation between sent values and actual speed. Varied angle between a cardboard and line of sight of a sensor.