## Thank You World!

This month I will start with a big thank you to quite a lot of people. My first post got tremendous feedback. I had >10 000 page hits for my blog and >20 000 hits for my Youtube videos. Thank you all for paying attention. If you want to support me leave feedback and suggestions in the comments. If you have any ideas for cool experiments that migt be possible with 20 LEDs tell me. If you implement cool stuff with my shield tell me as well. I will be more than happy to post about it.

One of the results of those high click counts was an automatic email by Youtube. This mail pointed out that I might make some money by adding advertisements to my videos. However I do not want to annoy any fellow tinkerers with commercials. So I did not implement this offer. If you like my work and appreciate my stance tell others about my site.

In order to boost my chances to win a laser cutter give away contest I thought about doing something spectacular with the Blinkenlight shield and some laser. After all the overall background of the contest seems to be laser affine.

The idea I came up with was to measure the speed of light. Or to be more precise its time of flight. Of course using a Blinkenlight shield with a setup similar to the LED camera experiment. I know that this light detection mechanism is far from optimal but I insist to do it that way just for the sake of it.

I am fully aware that there are simpler means of determining the speed of light. One of them so easy to pull of that even a child with a microwave oven and a chocolate bar can determine it. See the video below for this feat.

But back to my approach. My idea was to use the Arduino to pulse a laser and detect the light with my shield. That is the laser would be sitting side by side with the shield and aim at a mirror. Then I would move the mirror further and further away and measure how the time of flight increases. Sounds simple enough but there a many issues with this approach. But challenges just add to the size of the victory so lets see which obstacles I met.

First the obvious obstacles. The Arduino runs at 16 MHz. Since the speed of light is about 299,792,458 m/s this implies that it will travel about 18,73m per clock cycle. Also I know that my shield is not very sensitive and picks up a lot of noise. Seems like a bad start. But others have succeeded with even worse setup. There is some experiment that even succeeded in using “ping” to measure the speed of light. The key is a technique also known as stochastic resonance.

Thus in theory my setup should succeed to measure time of flight even for distances below 20m. This is great because it would not require an outdoor setup. It would only require to create lots of measurements. Excellent. So on with the next issue. I searched for some old laser pointer and tried how fast my shield could actually detect it. It turned out that it did NOT detect it all. Basically it was blind with regard to this laser pointer. After some minutes with Google I found that this is because my LEDs are orange and the laser pointer is red. With other words: the wavelength of the laser was longer than the wave length of the LEDs. In order for the LEDs to detect anything the light must have a shorter or equal wavelength than they emit. Bad news.

Who cares if a laser cutter is at stake? So I clicked *bay and ordered a green laser pointer module. These things are pretty cheap nowadays. Three days later I had a new green module and alas this module’s output can be detected by my shield.

The next issue is that this module wants to be fed with 3-3.6V and will draw about ~300mA. I looked up my parts bin and found some suitable transistor and slapped together the following simple driver circuit. Notice the diode. It serves the only purpose to make the whole thing suitable for 5V. This is somewhat poor design, a resistor would have been better but I did not have a suitable resistor at hand. Anyway I did not intent the circuit for continuous use but for pulsed duty. So this should be fine.

Laser Driver Schematic

Laser Driver Layout

Then I went to the basement to solder the whole thing. My lesson in dealing with green laser modules: if they are round they can roll of the bench, hit the concrete floor and break. This is what the module did 😦 Fortunately I was able to fix this with generous use of hot glue. See the final result below.

Laser Module

As a first test I hooked this to an Arduino running a bouncing ball sketch.

As you can see I use the old 1.1 prototype. This is because I had already soldered some headers to it thus this was the most convenient shield for connecting the module. As you can see the laser driver works fine.

Then I figured that there will be some significant beam divergence and alignment issues. My idea is to compensate this by two means: 1) use a lens and 2) compensate in software. That is will measure the detection time if the laser is already on. Then I will switch of the laser, precharge the detector, turn it back on and measure the time till the detector trips. Since the laser should always take the same time to activate and since the detector should always take the same time to trip the difference should be caused by the time of flight. Of course there will be lots of “noise” but this I will tackle by stochastic means.

So here is the sketch for my setup.

//
//
//
//	This program is free software: you can redistribute it and/or modify
//	the Free Software Foundation, either version 3 of the License, or
//	(at your option) any later version.
//
//	This program is distributed in the hope that it will be useful,
//	but WITHOUT ANY WARRANTY; without even the implied warranty of
//	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
//	GNU General Public License for more details.
//
//	You should have received a copy of the GNU General Public License
//	along with this program. If not, see http://www.gnu.org/licenses/

// this fails, probably because enabling input capture will bias pin 8 to low

/*
excerpts from the Atmel Datasheet

113:
The PRTIM1 bit in ”PRR – Power Reduction Register” on page 45 must be written to zero to
enable Timer/Counter1 module.

114:
Interrupt requests (abbreviated to Int.Req. in the figure) signals are all
visible in the Timer Interrupt Flag Register (TIFR1). All interrupts are individually masked with
the Timer Interrupt Mask Register (TIMSK1). TIFR1 and TIMSK1 are not shown in the figure.

118:
The Timer/Counter can be clocked by an internal or an external clock source. The clock source
is selected by the Clock Select logic which is controlled by the Clock Select (CS12:0) bits
located in the Timer/Counter control Register B (TCCR1B). For details on clock sources and
prescaler, see ”Timer/Counter0 and Timer/Counter1 Prescalers” on page 141.

119:
Depending on the mode of operation used, the counter is cleared, incremented, or decremented
at each timer clock (clkT1). The clkT1 can be generated from an external or internal clock source,
selected by the Clock Select bits (CS12:0). When no clock source is selected (CS12:0 = 0) the
timer is stopped. However, the TCNT1 value can be accessed by the CPU, independent of
whether clkT1 is present or not. A CPU write overrides (has priority over) all counter clear or
count operations.
The counting sequence is determined by the setting of the Waveform Generation mode bits
(WGM13:0) located in the Timer/Counter Control Registers A and B (TCCR1A and TCCR1B).
There are close connections between how the counter behaves (counts) and how waveforms
are generated on the Output Compare outputs OC1x. For more details about advanced counting
sequences and waveform generation, see ”Modes of Operation” on page 125.

120:
When a change of the logic level (an event) occurs on the Input Capture pin (ICP1), alternatively
on the Analog Comparator output (ACO), and this change confirms to the setting of the edge
detector, a capture will be triggered. When a capture is triggered, the 16-bit value of the counter
(TCNT1) is written to the Input Capture Register (ICR1). The Input Capture Flag (ICF1) is set at
the same system clock as the TCNT1 value is copied into ICR1 Register. If enabled (ICIE1 = 1),
the Input Capture Flag generates an Input Capture interrupt. The ICF1 Flag is automatically
cleared when the interrupt is executed. Alternatively the ICF1 Flag can be cleared by software
by writing a logical one to its I/O bit location.

121:
An Input Capture can be triggered by software by controlling the port of the ICP1 pin.

The main challenge when using the Input Capture unit is to assign enough processor capacity
for handling the incoming events. The time between two events is critical. If the processor has
not read the captured value in the ICR1 Register before the next event occurs, the ICR1 will be
overwritten with a new value. In this case the result of the capture will be incorrect.

125:
The simplest mode of operation is the Normal mode (WGM13:0 = 0). In this mode the counting
direction is always up (incrementing), and no counter clear is performed. The counter simply
overruns when it passes its maximum 16-bit value (MAX = 0xFFFF) and then restarts from the
BOTTOM (0x0000). In normal operation the Timer/Counter Overflow Flag (TOV1) will be set in
the same timer clock cycle as the TCNT1 becomes zero. The TOV1 Flag in this case behaves
like a 17th bit, except that it is only set, not cleared. However, combined with the timer overflow
interrupt that automatically clears the TOV1 Flag, the timer resolution can be increased by software.
There are no special cases to consider in the Normal mode, a new counter value can be
written anytime.
The Input Capture unit is easy to use in Normal mode. However, observe that the maximum
interval between the external events must not exceed the resolution of the counter. If the interval
between events are too long, the timer overflow

Register setup:

TCCR1A: COM1A1 COM1A0 COM1B1 COM1B0 - - WGM11 WGM10 := 0 0 0 0 - - 0 0
--> normal port operation for OC1A/B, normal timer operations

TCCR1B: ICNC1 ICES1 0 WGM13 WGM12 CS12 CS11 CS10 := 0 1 0 0 0 0 0 1
--> no noise canceller, trigger on rising edge, normal timer operations, clock prescaler := 1

TCC1C: FOC1A FOC1B 0 0 0 0 0 0 := 0 0 0 0 0 0 0 0
--> no output compare

TIMSK1: - - ICIE1 - - OCIE1B OCIE1A TOIE1 := 0 0 1 0 0 0 0 1
--> input capture interrupt enable, no counter interrupts, overflow interrupt enable

TIFR1:  - - ICF1 - - OCF1B OCF1A TOV1
--> flags that indicate input capture, counter matches, timer overflow

ICF1 is automatically cleared when the Input Capture Interrupt Vector is executed. Alternatively,
ICF1 can be cleared by writing a logic one to its bit location.

TOV1 is automatically cleared when the Timer/Counter1 Overflow Interrupt Vector is executed.
Alternatively, TOV1 can be cleared by writing a logic one to its bit location.

GTCCR: TSM - - - - - PRASY PRSYNC := 0 0 0 0 0 0 0 0
--> run the prescalers
*/

// Laser pin definition, Pin 19/ PORTC Pin 5 will be used to control the laser module.
// There is nothing really special about pin 19 except that it is very easily
// identified because it is at the edge of the Arduino board.
#define LASER_PORT PORTC
#define LASER_DDR  DDRC
#define LASER_PIN  5

// Input capture pin definition, Pin 8, PORTB, Pin 0 will be used to
// to connect the sensor. This pin is special because it is connected
// to the input capture unit of timer 1. Also it is NOT externally connected
// to some pull up/down resistor or FTDI chip or anything else.
#define SENSOR_PORT PORTB
#define SENSOR_DDR  DDRB
#define SENSOR_PIN  0

// will be used to store the output of the measurement after input capture is triggered
// 32 bit on purpose to be able to also indicate overflow
volatile uint32_t timer_value = 0;

ISR(TIMER1_CAPT_vect ) {
// Timer1 input capture

// if statement needed to always capture the first input capture event
if (timer_value == 0) {
timer_value = ICR1;
}
}

void laser_on() {
LASER_PORT = 1 << LASER_PIN;
}

void laser_off() {
LASER_PORT = 0 << LASER_PIN;
}

void init_laser() {
laser_off();
LASER_DDR  = 1 << LASER_PIN;
}

void precharge_sensor_pin() {
SENSOR_DDR  = 1 << SENSOR_PIN;
}

void float_sensor_pin() {
SENSOR_DDR = 0 << SENSOR_PIN;
}

void init_sensor_pin() {
precharge_sensor_pin();
SENSOR_PORT = 0 << SENSOR_PIN;
}

void start_measurement() {
TCCR1B = (1 << ICES1);   // stop timer1 but still have input capture edge detection to "rising"
TIMSK1 = 0x00;           // disable all timer1 interrupts
TIFR1  = 0xff;           // clear all timer1 interrupt flags

precharge_sensor_pin();

// settle sensor pin + Laser
delayMicroseconds(100);  // must not use delay as delay() relies on timer0

// reset timer and input capture values
TCNT1 = 0;
ICR1 = 0;
timer_value = 0;

TCCR1B = (1 << ICES1 ) | (1 << CS10);  // release timer1, input capture on rising edge, clock prescaler = 1
TIMSK1 = (1 << ICIE1);                 // enable timer1 input capture interrupt

float_sensor_pin();
}

uint16_t evaluate_measurement() {
// wait till a measurement is is available
while (!timer_value) {}

return timer_value;
}

void setup() {
// enable serial communication
Serial.begin(115200);
Serial.println("\n");
Serial.println("go");

// stop ALL timers, especially timer0
TCCR0B = 0;  // stop timer0
TCCR1B = 0;  // stop timer1
TCCR2B = 0;  // stop timer2

// setup timer 1
TCCR1A = 0;  // normal operation
TCCR1C = 0;  // no output compare
GTCCR  = 0;  // ensure prescalers (and thus timer1) are not halted

init_laser();
init_sensor_pin();
}

void loop() {
// time of flight measurement
laser_off();
start_measurement();
laser_on();
uint16_t time_of_flight = evaluate_measurement();

// offset measurement
start_measurement();
uint16_t time_offset = evaluate_measurement();
laser_off();

// reduce the laser's duty cycle to avoid overheating it
delayMicroseconds(1000);  // must not use delay as delay() relies on timer0

// output happens while the laser is off
// this is to reduce the duty cycle of the laser even further
static uint32_t counter = 0;
++counter;

const char separator = ',';
int32_t delta = (int32_t)time_of_flight - (int32_t)time_offset;

Serial.print(counter);
Serial.print(separator);
Serial.print(time_offset);
Serial.print(separator);
Serial.print(time_of_flight);
Serial.print(separator);
Serial.println(delta);

if (counter % 1000 == 0) {
for (uint16_t i=0; i < 1000; ++i) {
delayMicroseconds(1000);
}
}
}

Unfortunately it is not that simple. Here is some of the data that I acquired. It turns out that the whole setup is VERY temperature sensitive. All solid state lasers have protective circuitry to prevent them from burning out. As my analysis revealed this is a major obstacle for my approach. Here is a piece of the data that I captured.

200000,6630,47315,40685
200001,7922,56485,48563
200002,6896,64339,57443
200003,6878,60587,53709
200004,6932,59359,52427
200005,6924,58529,51605
200006,6864,57703,50839
200007,6796,57101,50305
200008,6746,56550,49804
200009,6644,56135,49491
200010,6564,55631,49067
200011,6476,55257,48781
200012,6396,54889,48493
200013,6332,54380,48048
200014,6298,54091,47793
200015,6280,54011,47731
200016,6164,53531,47367
200017,6140,53386,47246
200018,6116,53139,47023
200019,6088,52938,46850
200020,6060,52658,46598
200021,6042,52536,46494
200022,6026,52308,46282
200023,6024,52061,46037
200024,5990,52042,46052
200025,5998,51790,45792
200026,5996,51645,45649
200027,5986,51459,45473
200028,5982,51328,45346
200029,5990,51179,45189
200030,5996,51067,45071
200031,5982,50955,44973
200032,6004,50805,44801
200033,6000,50731,44731
200034,6004,50675,44671
200035,6014,50558,44544
200036,6026,50474,44448
200037,6032,50339,44307
200038,6040,50231,44191
200039,6040,50157,44117
200040,6042,50099,44057
200041,6060,49959,43899
200042,6088,49875,43787
200043,6084,49816,43732
200044,6094,49722,43628
200045,6098,49709,43611
200046,6110,49648,43538
200047,6108,49576,43468
200048,6098,49573,43475
200049,6144,49471,43327
200050,6136,49438,43302
200051,6152,49336,43184
200052,6154,49359,43205
200053,6172,49256,43084
200054,6158,49205,43047
200055,6172,49217,43045
200056,6186,49119,42933
200057,6196,49116,42920
200058,6224,49046,42822
200059,6200,48990,42790
200060,6214,48994,42780
200061,6210,48962,42752
200062,6252,48827,42575
200063,6240,48878,42638
200064,6252,48813,42561
200065,6248,48738,42490
200066,6256,48797,42541
200067,6250,48747,42497
200068,6264,48733,42469
200069,6264,48673,42409
200070,6280,48617,42337
200071,6282,48666,42384
200072,6290,48603,42313
200073,6284,48612,42328
200074,6308,48561,42253
200075,6298,48518,42220
200076,6304,48547,42243
200077,6340,48470,42130
200078,6326,48454,42128
200079,6322,48481,42159
200080,6346,48411,42065
200081,6336,48393,42057
200082,6348,48388,42040
200083,6354,48360,42006
200084,6350,48318,41968
200085,6378,48299,41921
200086,6354,48309,41955
200087,6368,48323,41955
200088,6374,48266,41892
200089,6374,48211,41837
200090,6402,48299,41897
200091,6376,48206,41830
200092,6396,48206,41810
200093,6382,48239,41857
200094,6396,48183,41787
200095,6388,48155,41767
200096,6402,48117,41715
200097,6396,48113,41717
200098,6452,48048,41596
200099,6424,48071,41647
200100,6416,48033,41617
200101,6418,48029,41611
200102,6446,47943,41497
200103,6424,48099,41675
200104,6452,48001,41549
200105,6430,48024,41594
200106,6434,48001,41567
200107,6434,48010,41576
200108,6448,47959,41511
200109,6466,48033,41567
200110,6452,47854,41402
200111,6448,48005,41557
200112,6444,47959,41515
200113,6474,47945,41471
200114,6457,48015,41558
200115,6462,47903,41441
200116,6472,47912,41440
200117,6462,47879,41417
200118,6508,47901,41393
200119,6460,47866,41406
200120,6472,47889,41417
200121,6514,47763,41249
200122,6476,47889,41413
200123,6488,47893,41405
200124,6516,47823,41307
200125,6466,47856,41390
200126,6518,47749,41231
200127,6480,47870,41390
200128,6476,47823,41347
200129,6508,47739,41231
200130,6522,47786,41264
200131,6494,47772,41278
200132,6550,47847,41297
200133,6504,47758,41254
200134,6508,47730,41222
200135,6500,47809,41309
200136,6508,47772,41264
200137,6508,47786,41278
200138,6532,47744,41212
200139,6532,47749,41217
200140,6573,47688,41115
200141,6508,47707,41199
200142,6522,47711,41189
200143,6516,47721,41205
200144,6532,47721,41189
200145,6528,47679,41151
200146,6508,47716,41208
200147,6518,47707,41189
200148,6528,47733,41205
200149,6531,47663,41132
200150,6528,47674,41146
200151,6536,47688,41152
200152,6508,47693,41185
200153,6536,47679,41143
200154,6546,47660,41114
200155,6544,47693,41149
200156,6546,47679,41133
200157,6528,47609,41081
200158,6532,47669,41137
200159,6532,47665,41133
200160,6564,47628,41064
200161,6528,47609,41081
200162,6546,47576,41030
200163,6564,47646,41082
200164,6584,47553,40969
200165,6586,47581,40995
200166,6546,47544,40998
200167,6532,47632,41100
200168,6536,47641,41105
200169,6564,47607,41043
200170,6536,47543,41007
200171,6528,47632,41104
200172,6560,47539,40979
200173,6546,47623,41077
200174,6570,47609,41039
200175,6564,47516,40952
200176,6544,47651,41107
200177,6574,47537,40963
200178,6572,47576,41004
200179,6586,47510,40924
200180,6574,47595,41021
200181,6544,47562,41018
200182,6550,47580,41030
200183,6612,47497,40885
200184,6570,47562,40992
200185,6564,47557,40993
200186,6584,47492,40908
200187,6570,47520,40950
200188,6586,47506,40920
200189,6544,47590,41046
200190,6578,47497,40919
200191,6564,47557,40993
200192,6572,47525,40953
200193,6574,47506,40932
200194,6616,47571,40955
200195,6584,47497,40913
200196,6598,47576,40978
200197,6564,47459,40895
200198,6578,47510,40932
200199,6584,47518,40934
200200,6584,47529,40945
200201,6564,47553,40989
200202,6588,47473,40885
200203,6578,47515,40937
200204,6586,47539,40953
200205,6592,47488,40896
200206,6592,47553,40961
200207,6574,47487,40913
200208,6574,47539,40965
200209,6570,47464,40894
200210,6598,47515,40917
200211,6578,47487,40909
200212,6578,47497,40919
200213,6588,47492,40904
200214,6570,47539,40969
200215,6602,47473,40871
200216,6578,47445,40867
200217,6560,47525,40965
200218,6574,47431,40857
200219,6602,47483,40881
200220,6578,47434,40856
200221,6556,47529,40973
200222,6564,47469,40905
200223,6584,47511,40927
200224,6564,47515,40951
200225,6598,47473,40875
200226,6578,47490,40912
200227,6578,47469,40891
200228,6578,47492,40914
200229,6604,47445,40841
200230,6564,47515,40951
200231,6574,47469,40895
200232,6560,47529,40969
200233,6588,47426,40838
200234,6578,47450,40872
200235,6572,47436,40864
200236,6550,47529,40979
200237,6578,47455,40877
200238,6570,47468,40898
200239,6606,47487,40881
200240,6564,47455,40891
200241,6602,47453,40851
200242,6592,47436,40844
200243,6602,47434,40832
200244,6584,47469,40885
200245,6584,47478,40894
200246,6606,47473,40867
200247,6572,47413,40841
200248,6588,47483,40895
200249,6578,47450,40872
200250,6574,47427,40853
200251,6612,47441,40829
200252,6616,47436,40820
200253,6642,47385,40743
200254,6532,47487,40955
200255,6600,47441,40841
200256,6586,47467,40881
200257,6574,47413,40839
200258,6558,47483,40925
200259,6546,47469,40923
200260,6564,47425,40861
200261,6574,47478,40904
200262,6556,47478,40922
200263,6588,47404,40816
200264,6634,47397,40763
200265,6606,47441,40835
200266,6570,47459,40889
200267,6578,47403,40825
200268,6616,47408,40792
200269,6574,47467,40893
200270,6586,47375,40789
200271,6598,47483,40885
200272,6588,47431,40843
200273,6578,47455,40877
200274,6592,47439,40847
200275,6588,47399,40811
200276,6614,47417,40803
200277,6612,47371,40759
200278,6546,47497,40951
200279,6592,47453,40861
200280,6560,47422,40862
200281,6598,47385,40787
200282,6584,47450,40866
200283,6570,47417,40847
200284,6620,47399,40779
200285,6584,47380,40796
200286,6574,47511,40937
200287,6584,47441,40857
200288,6597,47413,40816
200289,6606,47375,40769
200290,6586,47417,40831
200291,6584,47389,40805
200292,6602,47371,40769
200293,6586,47464,40878
200294,6592,47338,40746
200295,6614,47497,40883
200296,6588,47425,40837
200297,6634,47389,40755
200298,6574,47390,40816
200299,6600,47431,40831
200300,6564,47425,40861
200301,6574,47417,40843
200302,6606,47385,40779
200303,6576,47441,40865
200304,6558,47436,40878
200305,6574,47431,40857
200306,6618,47427,40809
200307,6586,47389,40803
200308,6592,47389,40797
200309,6578,47445,40867
200310,6588,47380,40792
200311,6592,47455,40863
200312,6592,47408,40816
200313,6592,47399,40807
200314,6600,47408,40808
200315,6574,47380,40806
200316,6584,47441,40857
200317,6612,47389,40777
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203961,6606,47259,40653
203962,6634,47277,40643
203963,6572,47385,40813
203964,6586,47324,40738
203965,6602,47327,40725
203966,6588,47399,40811
203967,6584,47291,40707
203968,6620,47259,40639
203969,6606,47300,40694
203970,6588,47380,40792
203971,6614,47273,40659
203972,6598,47328,40730
203973,6620,47361,40741
203974,6606,47329,40723
203975,6601,47313,40712
203976,6620,47352,40732
203977,6606,47313,40707
203978,6618,47369,40751
203979,6584,47310,40726
203980,6625,47329,40704
203981,6588,47371,40783
203982,6616,47277,40661
203983,6588,47361,40773
203984,6630,47324,40694
203985,6612,47375,40763
203986,6620,47352,40732
203987,6620,47328,40708
203988,6634,47291,40657
203989,6588,47315,40727
203990,6602,47338,40736
203991,6598,47361,40763
203992,6644,47306,40662
203993,6640,47263,40623
203994,6630,47343,40713
203995,6602,47361,40759
203996,6616,47231,40615
203997,6616,47385,40769
203998,6578,47371,40793
203999,6602,47305,40703

Here is a plot of it over time.

Baseline Measurements

As you can see detection time varies with run time. That is it varies with the heat build up in the laser circuit. This effect is very pronounced. It dominates any time of flight effects. At first glance it looked quite good but deeper analysis showed that the temperature dependency really dominates everything else. Basically I am stuck here. Several options come to mind: (1) get better temperature control. (2) gather way more measurements. (3) modify the laser module such that it will run at lower power but with much less sensitivity for temperature. But all of them are somewhat out of the reach for just some weekends.

Thus now I am stuck with a not yet successful experiment. Since my goal was to add an experiment per month I added an improved version of my persistence of vision experiment. Not a really big deal but at least something that works 🙂

So here is my question for all who read my blog: what are your proposals to fix the time of flight experiment?

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### 24 Responses to Thank You World!

1. Hmm… Seems like you need to know when the beam actually leaves the laser. Maybe try 2 sensors/shields with a distance between them. That way you can correlate the 2 values and determine the trigger time?

• My idea is to measure with different distances and then to use linear regression to factor out the rise time of the laser. However right now the temperature impact is way to large.

2. Peter says:

Instead of pulsing the laser on and off, perhaps you can leave it on and use a spinning disk with a narrow slot to gate the beam. That way the laser can be in a steady state condition.
You will of course have to sync it somehow. Possibly by sensing a drop in reflected (off the spinning disk) laser light.

• Yes, this is a classical approach. However my idea was to use a deliberately simple hardware setup. At least simple for a computer hacker. Thus I would prefer to avoid mechanical means. The point in my experiment is not to measure speed of light but to do it with the Blinkenlight shield. Not because it is the best way but because I want to push the limits of what can be achieved with 20 LEDs (and a laser of course 😉

3. For the laser, it looks like you’re using a DPSS module based on the shape and the color. Can you try a simple diode laser ~650NM? Aixiz sells them for dirt cheap online and on eBay. I’m guessing that cutting out the NLO in the DPSS and simplifying the device will improve the repeatability of your results. I’ve found that the output changes significantly based on the temperature of the optics as well as the quality of the beam.

• Sorry, I missed the wavelength part. You can also order blu-ray diodes (~405nm) that don’t have the messy NLO that a dpss does.

• This is interesting. I was completely ignoring the fact that blue lasers are NOT dpss. I already ordered a blue laser at *bay. Let’s see how far this will get me. Thanks a lot for this valuable insight!

4. greg uzelac says:

Maybe you can add a rotating mirror just before the LEDs to increase its sensitivity. I recently disassembled a Laser printer and saw a hex-sided mirror assembly that gave me the idea. In your case, the light would exit the laser, hit and reflect off of the mirror, then reflect back. It would then strike the new hex-sided mirror, and finally enter one of the LEDs. As the hex-sided mirror spins the light would enter each LED in succession, from left to right. You would adjust he motor speed so that all the LEDs are used. I can imagine the results “folding back” to multiples of the LED strip length, thus imposing a range of allowable distances. You might be able to precisely stop/position the hex-sided mirror such that the light enters a single LED continuously as to retain the current behavior.

• Yes, folding back to increase the length is a good idea. However this will not address the heat build up issue. I will have to resolve this first.

5. pinkyslemma says:

I’ve noticed my mobile phone becomes very cold when mounted on the dash in front of the aircon vent. Could put your experiment in this position and shoot the laser out of a car window which has been rolled down.

• Interesting approch but unfortunately it will not solve my issue. The heat build up is inside the laser control circuit. I might be able to even this out by running the experiment for days in a temperature controlled environment. But this would defer the idea of having a “simple” setup.

• Do you have access to a deep freeze or at least a fridge? It offers a very cold, very dark place to run the experiment.

• I am afraid but a deep freeze will not keep the temperature stable. Especially not the internal temperature of the regulation circuit. Also my fridge will run periodically. Another issue is that my experiment requires probably 10-20m distance from the laser to a mirror. Again something that I can not achieve with my fridge.

6. Jeremy says:

I think you have some of the answers…
1. Better Temperature control – Put it inside a polystyrene box to insulate from outside effects and leave the laser ON to acquire a thermal stability – the longer it is on the better stability – leave on for a day. Also because its in a insulating box it could keep the box at a stable temperature. Could you get arduiono to measure temp as well.
2. Yes get more measurements and use averaging to improve the measurement.
3. As mentioned if the laser is permanently ON how do you detect and measure time.
If you are going to use the blinkenlight detector you need to split the array of detector LEDS in two – one set/side becomes a reference and one set becomes the measure. You then need to split the laser light coherently maybe into two fibers off different length and then measure phase difference.

I am not saying that any of that was easy….but it maybe some of the way forward.
Its a very good project….

• 1) I will put this on my list.
2) Will also go to my list.
3) I want to detect time of flight in air. So I rather would not use fibers. Anyway phase difference is not what I am looking for as the wavelength of visible light is rather short.

• Jeremy says:

Ok, understand step 3 is not what you need.
Out of interest, How far apart is the Laser and the blinken light detector?

• Seems that wordpress does not allow me to answer your reply below. So here is my answer above 😉 I intend to vary the distance and then to apply linear regression techniques. That way I want to get rid of the (hopefully constant) latency and only determine the linear term that depends on the distance. Thus I want to infer the actual time of fligh per meter.

• Jeremy says:

That’s interesting the way you are going to remove the launch delay on the light pulse. I had some thought about how you could remove the pulse launch delay.
I thought you could have had some trigger line.A trigger line that left the arduino and came back to it and which was the same cable length of the arduino to the laser. You are still left with some laser ON latency but it is reduced.
Are you going to be perform the measurement in the dark to stop the LED detector from being polluted by surrounding light?

• Actually I will not do this in the dark. Either I will use red light (which is not picked up by the sensor) or I will put the sensor in a dark tube. This should be sufficient. The latency is not an issue because I will measure different distances. Thus by means of correlation I should be able to remove the latency from the equation.

7. Willem says:

Hi,
I’ve been thinking about this for a while. I saw a talk by Peter Centen on time of flight using Studio camera CCDs to measure time of flight with LEDs light sources. ( http://www.20203dmedia.eu/materials/CVMP2011_Centen_TOF_ppt.pdf )

One approach that I was thinking about is not to measure the time of flight directly but instead emit a known number of pulses, and count the replies. Obviously you’ll need to stop counting as soon as you send the last pulse. A 74HC390 can be clocked at 50MHz which should give you a 6 meter resolution (in theory, however you’ll probably want to emit pulses at 25 Mhz or less)

The hard part is getting an accurate/stable 50MHz clock.

• This is really cool. However in my article I already state that I do not measure it directly in its literal sense. I will apply statistical means to figure out the speed. So I will have to measure for several distances and then to compute the speed. The direct measurement you cite is very exciting. However it goes far beyond what I attempt with my trivial setup. But very interesting indeed 🙂

8. Maybe if you use a semi reflectant mirror you just have to measure the time between the first and the second signal, you will be independent of the start time. Sorry for my english. I love your project.

• Right now the TOFL experiment is somewhat on hold. Once I continue I will consider this.

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