IR sensor reading shifts under gym lights, ambient bias correction?
Posted: Mon Jun 29, 2026 11:00 am
Sumo bot uses Sharp GP2Y0A21 for opponent detection. Bench test: solid 10-80cm range, predictable readings.
Competition venue: bright LED ceiling lights. Sensor readings shift by ~15cm equivalent. Bot thinks opponent is closer than reality, drives off ring chasing ghosts.
Approaches I am considering:
Competition venue: bright LED ceiling lights. Sensor readings shift by ~15cm equivalent. Bot thinks opponent is closer than reality, drives off ring chasing ghosts.
Approaches I am considering:
- Modulated 38kHz IR with carrier filter (rebuild detection logic)
- Periodic ambient sampling (read without emit, subtract from with-emit reading)
- Optical baffle around sensor lens