Cobra

The Cobra Line Follower provides an array of IR reflective sensors to be used for detecting a line.

Cobra V2

Note

The Cobra V2 requires the Analog Module to send data to the VMX. It is possible to place the inputs directly on the analog pins of the VMX. However, the analog module is recommended.

Cobra V3

The Cobra V3 has an upgraded IR sensor and the ADC has been added to the sensor. There are two outputs on V3, i2c and raw. The i2c connection, connects to the ADC and will return an accurate 12-bit value. Wheras, the raw outputs the raw analog output of the sensor.

Programming

Using WPILib:

//import
import com.studica.frc.Cobra;

//Cobra Library
private Cobra cobra;

//Custruct and instance
cobra = new Cobra();

//or if sensor is using 3.3V
cobra = new Cobra(3.3F);

//Grab data
cobra.getVoltage(channel); // returns a float of the voltage
cobra.getRawValue(channel); // returns a double

The accessor methods will output either the votlage (0 - VIN) or the raw ADC value (0 - 2047).

Header

//Cobra Library
#include "studica/Cobra.h"

//Constructor
studica::Cobra cobra{};
// or if sensor is using 3.3V
studica::Cobra cobra{3.3F};

Source

// Call to access data
cobra.GetVoltage(channel); // Gets the votlage at the specfified channel.
cobra.GetRawValue(channel); // Gets the raw value from the ADC at the specified channel.

The accessor functions will output either the voltage (0 - VIN) or the raw ADC value (0 - 2047).

Function	Min	Typical	Max
Input Voltage	3.3VDC	5VDC	—
Current	25mA	70mA	100mA
Sensing Distance	1mm	3mm	5mm

Function	Min	Typical	Max
Input Voltage	3.3VDC	5VDC	—
Current	25mA	200mA	250mA
Sensing Distance	0mm	5mm	20mm