Commands

Mode Name

Description

020

Infrared Transmission

(ZAP/TAG Mode)

Transmits a Sony (SIRC) Infrared command from both IR LED’s. Any Device + Button code can be transmitted.

Decimal output

030

Sony IR -Decimal

Receive Sony (SIRC) IR Commands and output results to serial port as two-bytes in decimal format

032

IRPD Mode

One shot proximity sensing. 6 bytes of serial data are transmitted with proximity information in decimal format. This is the normal command used for IRPD.

034

Freewheel Mode

Send a continuous stream of proximity serial data in decimal format.

035

Autopilot Mode

Using the internal Fuzzy logic routines, results are sent as two bytes of data to the serial port. These bytes depict the direction and distance of the nearest obstacle.

036

Beacon Mode

This command searches for Sony (SIRC) infrared transmissions on all 3 sensors and returns with an approximate direction based on which sensor received the highest readings. 

037

Light Sensor

Checks the left and right light levels and outputs the results as two bytes of data in decimal format. The circular display also indicates the approx. direction of the brightest light source.

038

Light Sensor + IRPD

This command is a combination of IRPD Mode (037) and Light Sensor Mode (037). 8 bytes of data are returned. The command enables IRPD data to take priority over Light sensor data.

ASCII output

040

Sony IR -ASCII

Receive Sony (SIRC) IR Commands and output results to serial port as two-bytes in ASCII format

042

IRPD Mode

Same as command code 032, but returns results in ASCII format.

044

Freewheel Mode ASCII

Same as command code 034, but is sent as ASCII format for direct connection to ASCII terminal

Other useful Commands

052

Continuous Infrared transmissions

(Beacon transmission mode)

This command transmits a REPEATED Sony (SIRC) Infrared transmission command from both Infrared LED’s. Similar to command 020, but automatically re-transmits the command every 2 seconds.

Any (SIRC) Device code + Button code is transmitted. This command is intended to be used together with 1 or many Beacons sending different ID codes to guide bots towards them. It can also be used for debugging other infrared devices.  The IRCF-L can be disconnected from the serial connection after being ‘primed’ with a device code and a button code. It will then continue to re-transmit the initial command, until another command is sent.