2004 FRC IR Beacon Tracker Example

These next four images show the sensor preparation steps:

These images show an example tracker assembly. The prepared sensors are either soldered to the end of a PWM cable, or inserted into a connector. Then one or two layers of heat-shrink tubing is shrunk over the connector/sensor assembly with an extra ~1.5 inches of tubing extending past the sensor window. Once cooled, one side of the tubing is cut back all the way to the sensor window. It's important that the sensor have an unobstructed view on it's side of the tracking assembly. The sensors are then attached to the servo motor arm with glue or, in this case, dacron lacing cord. The sensors should be aligned such that both sensors can view the beacon over a few degrees of rotation. If the servo motor quickly oscillates when the sensors are pointed at the beacon, there is not enough overlap.