Page 130 - Hacking Roomba
P. 130
Chapter 6 — Reading the Roomba Sensors 111
FIGURE 6-2: Underside of Roomba, showing sensors
Emitter Detector
Phototransistor
LED or Photodiode
Optoisolator
Optical Interrupter
Optical Object Detector
Object (Wall, Floor, etc.)
FIGURE 6-3: Common optical emitter/detector configurations
