ir.tex

\subsection{IR Sensors}	

    The IR sensors are intended as redundancy to the sonar.
    For this task, two different kinds of IR sensors were chosen as redundancy for the sonars. 
    The long-ranged sensors are meant to cover for the sonar at short range while the short-ranged sensors are meant to cover the remaining distance.

    The long-range sensor chosen for the task is
    \href{https://www.arrow.com/en/products/gp2y0a710k0f/sharp?wm_g_phyloc=1012273&wm_g_intloc=&gclid=CO%5F1xubhidACFUvqcgodU7cF%2Dw&utm_source=google&utm_medium=cpc&utm_term=sharp+gp2y0a710k0f&utm_campaign=int+%2D+sku+%2D+sharp+%2D+dynamic+inventory}{Sharp GP2Y0A710K0F}.
    Its distance measuring range is $\SI{100}{}$ to $\SI{550}{\centi\metre}$.
    Accuracy could not be ascertained from the data sheet.
    Output of the sensor is a current, where the voltage varies between approx. $\SI{1.5}{} - \SI{3}{\volt} $, where lower values corresponds to longer distance.
    Measurements are carried out continuously every $\SI{16.5}{\milli\second}\pm \SI{3.7}{\milli\second}$,
    and output is updated after maximum $\SI{5.0}{\milli\second}$.\cite{sheet:ir_long}


    The short-ranged sensor chosen is 
    \href{http://www.digikey.se/product-detail/en/sharp-microelectronics/GP2Y0A02YK/425-1165-ND/457883}{Sharp GP2Y0A02YK}.
    It has a distance measuring range of $\SI{20}{}$ to $\SI{150}{\centi\metre}$ with an accuracy of
    $\pm\SI{10}{\centi\metre}$. Output of the sensor is a current, where the voltage varies between
    $\approx\SI{0.5}{} - \SI{2.7}{\volt} $, where lower voltage corresponds to longer distance.

    Measurements are carried out continuously every $\SI{38.3}{\milli\second}\pm \SI{9.6}{\milli\second}$,
    and output is updated after maximum $\SI{5.0}{\milli\second}$.\cite{sheet:ir_short}