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<P align=center><B><FONT size=4>Sharp GP2D12</FONT></B></P>
<P align=center><FONT size=3><I><FONT face=Arial>Application note for an
infrared, triangultation-based distance sensor with an analog, non-linear
output</FONT></I></FONT></P>
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<LI><B>Overview</B>
<P>This application note is intended to provide a good overview of the Sharp
GP2D12 sensor (Fig. 1) and its use, especially for dynamics application. I
hope it will help some robotists to make this sensor work quite easily and to
avoid certain pitfalls. This range finder is one of the most commonly used in
autonomous robotics applications for hobbyists and also in academic research.
The reasons for this are essentially its low price (about 14$ at <FONT
color=#000000><A href="http://www.acroname.com/"
target=_blank>Acroname</A></FONT>, for example), its compact (~40x14x13mm) and
lightweight package (<A href="http://zuff.info/RangeFindersComp_E.html">a
comparison between several sensors may be found here</A>). The GP2D12 is based
on the <A href="http://diwww.epfl.ch/lami/expo/zufferey.html">triangulation
principle</A> with a collimated infrared LED for the emitting element and a <A
href="http://zuff.info/PSD.html">PSD</A> (Position Sensing Device) which
constitutes the receiver.</P></LI></UL>
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<DIV align=center><FONT face="Arial, Helvetica, sans-serif"><B><FONT
size=2>Fig. 1 - Sharp GP2D12 distance sensor</FONT></B></FONT></DIV></TD>
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face="Arial, Helvetica, sans-serif"></FONT></DIV></TD>
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<DIV align=center><FONT face="Arial, Helvetica, sans-serif"><B><FONT
size=2>Fig. 2- Sharp GP2D12 output
pattern</FONT></B></FONT></DIV></TD></TR></TBODY></TABLE>
<BLOCKQUOTE>
<P>Although it exists a very similar sensor with a digital output (the<FONT
color=#000000> <A
href="http://www.didel.com/Frames.html?MainFrame=robo/index.html"
target=_blank>GP2D02</A></FONT>), I will focus only on the GP2D12 which has an
analog output (see Fig. 2). The main motivation for this choice is that the
digital version is almost twice slower than the GP2D12 (<FONT
color=#000000>update period about 75ms against 40ms for the analog
version</FONT>). Table 1 gives a brief overview of the GP2D12 specifications
(<A href="http://zuff.info/Doc/GP2D12_15_NEW.pdf">Here is the full and latest
official datasheet</A>).</P></BLOCKQUOTE>
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<DIV align=right><FONT face="Arial, Helvetica, sans-serif"><SPAN
lang=EN-US>Range:</SPAN></FONT></DIV></TD>
<TD noWrap><FONT face="Arial, Helvetica, sans-serif"></FONT></TD>
<TD noWrap>
<DIV align=left><FONT face="Arial, Helvetica, sans-serif"><SPAN
lang=EN-US>10 to 80cm</SPAN></FONT></DIV></TD></TR>
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<TD noWrap>
<DIV align=right><FONT face="Arial, Helvetica, sans-serif"><SPAN
lang=EN-US>Update frequency / period:</SPAN></FONT></DIV></TD>
<TD noWrap><FONT face="Arial, Helvetica, sans-serif"></FONT></TD>
<TD noWrap>
<DIV align=left><FONT face="Arial, Helvetica, sans-serif">25Hz /
40ms</FONT></DIV></TD></TR>
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<TD noWrap>
<DIV align=right><FONT face="Arial, Helvetica, sans-serif"><SPAN
lang=EN-US>Direction of the measured distance:</SPAN></FONT></DIV></TD>
<TD noWrap><FONT face="Arial, Helvetica, sans-serif"></FONT></TD>
<TD noWrap>
<DIV align=left><FONT face="Arial, Helvetica, sans-serif">Very
directional, due to the IR LED</FONT></DIV></TD></TR>
<TR>
<TD noWrap>
<DIV align=right><FONT face="Arial, Helvetica, sans-serif"><SPAN
lang=EN-US>Max admissible angle on flat surface:</SPAN></FONT></DIV></TD>
<TD noWrap><FONT face="Arial, Helvetica, sans-serif"></FONT></TD>
<TD noWrap>
<DIV align=left><FONT face="Arial, Helvetica, sans-serif"><SPAN
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