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To me the main problem with the Sharp sensors for the Fire Fighting contest is that the update rate is slow compared to the Devantec sonars. I think the fastest Sharp sensor updates every 38 ms. The Devantec sonars can update about every 11 ms, given that the distance to the walls is less than 6 inches. This is a problem for PID control if the robot is going fast. John Piccirillo >What problems have you had with the sharps? It seems to me that the >main problem with the GP2D02s is that you can't immediately compare >the output of each sensor but need to first convert the readings >into distance.

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