Welcome to 8-channel Grayscale Tracking Module repository

1. MSPM0 Smart Car

Eight-channel grayscale moduleHardware WiringPartial Code AnalysisMain FunctionsExperimental Phenomena

Eight-channel grayscale module

Our store offers four types of eight-channel grayscale modules: distinguished by light color, namely: Red, Green, Blue, White. Different colored grayscale modules are suitable for different line inspection scenarios. The provided source code is applicable to all sensors.

Sensor Classification	Red	Green	Blue	White
White background	Green, Cyan, Blue, Black	Red, Blue, Purple, Black	Yellow, Red, Green, Black	Black
Black background	Red, Orange, Yellow, White	Green, Yellow, Cyan, White	Blue, Purple, Cyan, White	White

Hardware Wiring

Eight-channel grayscale module	MSPM0G3507
5V	5V
GND	GND
AD2	X1
AD1	X2
AD0	X3
OUT	X4

Start the car

Partial Code Analysis

Control Principle

Modify the effective level by changing ACTIVE_VALUE to 0/1

bsp_ir_eight.c


x
/**
* @brief Read the status of eight infrared sensors
* @param ir_results An array of length 8, used to store the status (0/1) of each channel
*/ 
void ReadEightIR(uint8_t ir_results[8]) {
    for (int channel = 0; channel < 8; channel++) {
        // Calculate the C, B, and A values corresponding to the current channel (C is the most significant bit, A is the least significant bit)
        uint8_t c = (channel >> 2) & 0x01;
        uint8_t b = (channel >> 1) & 0x01;
        uint8_t a = channel & 0x01;       
        SET_CHANNEL(c, b, a); // Set the channel selection pin 
                //This delay time can be adjusted to a stable state
        delay_us(100);
        // Read the infrared status of the current channel and store it in the result array
        ir_results[channel] = READ_IR_OUT() ? 1 : 0;            
    }
}

bsp_ir_eight.h


x
#define EIGHT_IR_PORT Eight_IR_PORT // Port
#define EIGHT_IR_AD0_PIN Eight_IR_AD0_X3_PIN // Channel selection: A (least significant bit)
#define EIGHT_IR_AD1_PIN Eight_IR_AD1_X2_PIN // Channel selection: B
#define EIGHT_IR_AD2_PIN Eight_IR_AD2_X1_PIN // Channel selection: C (most significant bit)
#define EIGHT_IR_OUT_PIN Eight_IR_OUT_X4_PIN // Infrared detection output pin
// Set the level (0 or 1) of channel selection pins C, B, and A
#define SET_CHANNEL(c_val, b_val, a_val) \
    do { \
        GPIO_setPins(EIGHT_IR_PORT, EIGHT_IR_AD2_PIN, c_val); \
        GPIO_setPins(EIGHT_IR_PORT, EIGHT_IR_AD1_PIN, b_val); \
        GPIO_setPins(EIGHT_IR_PORT, EIGHT_IR_AD0_PIN, a_val); \
    } while(0)

Main Functions

ReadEightIR

Function Prototype	void ReadEightIR(uint8_t ir_results[8])
Function Description	Reads the status of eight infrared sensors and stores the status (0 or 1) of each channel into a specified array. Channel selection is achieved by calculating the corresponding C, B, and A values. The status is read and stored after a 1ms delay.
Input Parameters	ir_results: An 8-byte uint8_t array used to store the status of the eight infrared sensors (0 indicates no detection, 1 indicates detection).
Return Value	None

Experimental Phenomena

After connecting the car to the OLED module and programming the MSPM0, place the car on the map. The car will automatically start tracking, and the sensor data will be displayed on the OLED. Due to differences in motor parameters and ground material, if the tracking effect is poor, the parameters need to be adjusted manually.

Raspberry Pi Pico

STM32 development board for small car