8-channel Grayscale Color Line Tracking

Our store offers four types of 8-channel Grayscale Tracking Modules, distinguished by light color: Red, Green, Blue, White. Different colored grayscale modules are suitable for different line inspection scenarios. The provided source code is compatible with all sensors.

Hardware Wiring

Partial Code Analysis

Control Principle

Modify the active level by changing ACTIVE_VALUE to 0/1.

bsp_ir_eight.c

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/**
 * @brief Read the status of eight infrared sensors
 * @param ir_results An array of length 8 is used to store the state (0/1) of each path.
 */
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, and 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 channel selection pin  
        delay_ms(1);
        // 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

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#define EIGHT_IR_PORT        Eight_IR_PORT   // port
#define EIGHT_IR_AD0_PIN     Eight_IR_AD0_X1_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_X3_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 the 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

Experimental Phenomena

After connecting the car to the OLED module and programming the MSPM0, place the car on a map with a white background and black lines. The car will automatically start tracking, and the sensor data will be displayed on the OLED.