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Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex

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'''Documentation notice:''' This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

== Summary ==
Technical overview of the Waveshare Tracker Sensor (WSAL12223) for infrared line tracking: specifications, operating principle covering normalization, weighted average and PID control, plus example wiring to STM32 and Arduino boards.

== Related products at JW Tech ==
* [https://shop.jw-tech.eu/p/WSAL12223 WSAL12223 – Tracker Sensor, Infrared Line Tracking]

== Technical overview ==
* Operating voltage 3.3 V to 5 V; size 78 mm × 18 mm; probe spacing 16 mm; mounting hole diameter 3 mm; sensing distance about 1 cm to 5 cm.
* Five analog outputs produce values that depend on distance and reflectance: lighter (white) surfaces give higher values, dark lines lower values.
* Normalization converts raw readings into 0–1000 via y = (x − Min) × 1000 / (Max − Min), where 1000 means far from the black line and 0 means directly above it.
* Min and Max are determined by repeated sampling; during calibration the vehicle should run along the black line and swing side to side.
* Weighted average computes line position in 0–4000: y = (0·v0 + 1000·v1 + 2000·v2 + 3000·v3 + 4000·v4) / (v0+v1+v2+v3+v4).
* 2000 corresponds to module center; 0 is leftmost, 4000 rightmost.
* For precise detection the black line width should be ≤ 16 mm, and the module should be mounted so two adjacent sensors can detect a centered line.
* PID control keeps position at 2000: proportional = position − 2000; derivative = proportional − last_proportional; integral += proportional; power_error = Kp·proportional + Ki·integral + Kd·derivative.
* The AlphaBot example uses PD instead of full PID (no integral term); Kp, Ki, Kd are individually adjustable.
* Wiring to XNUCLEO-F103RB: IR1–IR5 to A0–A4, GND to GND, VCC to 3.3 V. Wiring to Arduino UNO PLUS: IR1–IR5 to A0–A4, GND to GND, VCC to 5 V.

'''Commands and examples – verify before use:'''
<syntaxhighlight lang="text">
y = (x - Min) * 1000 / (Max - Min)
y = (0 * value0 + 1000 * value1 + 2000 * value2 + 3000 * value3 + 4000 * value4) / (value0 + value1 + value2 + value3 + value4)
proportional = position - 2000;
derivative = proportional - last_proportional;
integral += proportional;
last_proportional = proportional;
power_error = proportional * Kp + integral * Ki + derivative * Kd;
</syntaxhighlight>

== Notes and version constraints ==
* The source contains template placeholders such as {{{name2}}} and {{{userDefinedInfo}}}, indicating incomplete templates or rendering errors; these should be verified before publication.
* Calibration requires the vehicle to move along the line during sampling; static tests may yield less accurate Min/Max values.
* The demo code uses PD rather than full PID control; whether an integral term is needed depends on the desired dynamics and must be tuned per application.
* Exact pin assignments may vary with board revisions; the listed connections apply specifically to the XNUCLEO-F103RB and UNO PLUS boards mentioned.

== Source and revision record ==
* [https://www.waveshare.com/wiki/Tracker_Sensor Tracker Sensor - Waveshare Wiki]
* Source revision: 75845
* Captured: 2026-08-30T03:19:10+00:00
* SHA-256: <code>c5fb05d52204778f30a86d1c26d437ab6a2593b2b5cddfce65f2d5f902de774d</code>

WSAL12223 – Tracker Sensor/en - Versionsgeschichte

JWTechPublisher: Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex