Introduction

Lesson 34 Tracking Sensor The infrared tracking sensor

uses a TRT5000 sensor. The
blue LED of TRT5000 is the
emission tube and after electrified it emits infrared light invisible to human eye. The black part of the sensor is for
receiving; the resistance of the resistor inside changes with the infrared light received.

Components
- 1 * Raspberry Pi
- 1 * Breadboard
- 4 * Jumper wires (Male to Male, 2 red and 2 black)
- 1 * Network cable (or USB wireless network adapter)
- 1 * Tracking sensor module
- 1 * 3-Pin anti-reverse cable

Experimental Principle
When the infrared transmitter emits rays to a piece of paper, if the rays shine on a white surface, they will be reflected
and received by the receiver, and pin SIG will output low level; If the rays encounter black lines, they will be absorbed,
thus the receiver gets nothing, and pin SIG will output high level. The schematic diagram of the module is as shown
below:

Experimental Procedures
Step 1: Build the circuit
 Raspberry Pi T-Cobbler Tracking Sensor Module
GPIO0 GPIO17 SIG
5V 5V0 VCC
GND GND GND

For C language users:

Step 2: Change directory
cd /home/pi/SunFounder_SensorKit_for_RPi2/C/34_tracking/
Step 3: Compile
gcc tracking.c -lwiringPi
Step 4: Run
sudo ./a.out

For Python users:

Step 2: Change directory
cd /home/pi/SunFounder_SensorKit_for_RPi2/Python/
Step 3: Run
sudo python 34_tracking.py

When the tracking sensor encounters black lines, a string “Black Line is detected” will be printed on the screen.

C Code
#include <wiringPi.h>
#include <stdio.h>

#define TrackSensorPin 0
#define LedPin 1

int main(void)
{
if(wiringPiSetup() == -1){ //when initialize wiring failed,print messageto screen
printf("setup wiringPi failed !");
return 1;
}

pinMode(TrackSensorPin, INPUT);
pinMode(LedPin, OUTPUT);

while(1){
if(digitalRead(TrackSensorPin) == LOW){
printf("White line is detected\n");
digitalWrite(LedPin, LOW); //led on
delay(100);
digitalWrite(LedPin, HIGH); //led off
}
else{
printf("...Black line is detected\n");
delay(100);
}
}
 return 0;
}

Python Code

#!/usr/bin/env python
import RPi.GPIO as GPIO

TrackPin = 11
LedPin = 12

def setup():
GPIO.setmode(GPIO.BOARD) # Numbers GPIOs by physical location
GPIO.setup(LedPin, GPIO.OUT) # Set LedPin's mode is output
GPIO.setup(TrackPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.output(LedPin, GPIO.HIGH) # Set LedPin high(+3.3V) to off led

def loop():
while True:
if GPIO.input(TrackPin) == GPIO.LOW:
print 'White line is detected'
GPIO.output(LedPin, GPIO.LOW) # led on
else:
print '...Black line is detected'
GPIO.output(LedPin, GPIO.HIGH) # led off

def destroy():
GPIO.output(LedPin, GPIO.HIGH) # led off
GPIO.cleanup() # Release resource

if __name__ == '__main__': # Program start from here

setup()
try:
loop()
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be
executed.
destroy()