Stef (...) The IR LEDs are pulsed on and off at 30kHz - that's on top of the 2400bps serial signal. I had to remove that 30kHz signal. That's what the 100nF (on the base of the transistor) is for. The time-constant of the 100nF and the 470R has to (...) (23 years ago, 14-Feb-02, to lugnet.robotics)
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