1. Käynnistä mittaus triggeripulssilla
2. Odota että mittauspulssi nousee
3. Odota että mittauslaskee
4. Laske matka = aika* (331.4m/s + (.607 * (TK 273)))
TK on lämpötila Kelvineinä
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' demo ohjelma SRF04 ultraännianturin käyttämiseksi OOPic controller
Dim SLeft as new oWord
' left sonar reading
Dim SRight as new oWord
' right sonar reading
Dim EchoTimer as new oTimer
' object to time the returning echo
Dim TmrControl as new oGate(1)
' used to connect the sonar echo pin to
' the timer operate control
Dim SLeftTrigger as new oDio1
' Trigger pulse for left sonar
Dim SLeftEcho as new oDio1
' Echo input from left sonar
Dim SRightTrigger as new oDio1
' Trigger pulse for right sonar
Dim SRightEcho as new oDio1
' Echo input from right sonar
Sub Main()
SonarSetup
' setup I/O pins, oTimer and TmrControl
Do
ReadSLeft
' get reading from left sonar
OOPic.Delay = 3
' wait 30mS for "ping" to fade away
ReadSRight
OOPic.Delay = 3
' Data is now in SLeft and SRight variables
' Add code here to do whatever you wish with
the data
Loop
End Sub 'Main
Sub ReadSLeft()
TmrControl.Input1.Link(SLeftEcho.value) ' set oTimer
operate control to left echo pin
EchoTimer.value=0
' Start timing from zero count
SLeftTrigger.value=1
' pulse the sonar trigger input
SLeftTrigger.value=0
While (SLeftEcho.value=1)
' wait for end of echo pulse
Wend
SLeft=EchoTimer.value/92
' convert reading to inches (divide by 36 for cm)
End Sub 'ReadSLeft
Sub ReadSRight()
TmrControl.Input1.Link(SRightEcho.value) ' set oTimer operate
control to right echo pin
EchoTimer.value=0
' Start timing from zero count
SRightTrigger.value=1
' pulse the sonar trigger input
SRightTrigger.value=0
While (SRightEcho.value=1)
' wait for end of echo pulse
Wend
SRight=EchoTimer.value/92
' convert reading to inches (divide by 36 for cm)
End Sub 'ReadSRight
Sub SonarSetup()
EchoTimer.ExtClock=cvOff
' use 5MHz internal clock for timer
EchoTimer.PreScale=3
' divide 5MHz internal clock by 8
SLeftTrigger.IOLine=6
' Pin 17 on 40Way Connector
SLeftTrigger.Direction=cvOutput
SLeftTrigger.value=0
SRightTrigger.IOLine=9
' Pin 18 on 40Way Connector
SRightTrigger.Direction=cvOutput
SRightTrigger.value=0
SLeftEcho.IOLine=7
' Pin 19 on 40Way Connector
SLeftEcho.Direction=cvInput
SRightEcho.IOLine=8
' Pin 20 on 40Way Connector
SRightEcho.Direction=cvInput
TmrControl.Output.Link(EchoTimer.Operate) ' Note - the input
link is set in each
TmrControl.Operate=cvTrue
' ReadSLeft|ReadSRight subroutine
End Sub 'SonarSetup
=============Toinen esimerkki =====================
***********************************************
'** SRF04 Demonstration Software
for the BX-24 **
'**
Copyright 2002 - Devantech Ltd
**
'** Commercial use of this software is
prohibited **
'** Private and educational use only
is permitted **
'** Written by Gerald
Coe - February 2002
**
'***********************************************************
Sub Main()
Const EchoPin As Byte = 14
' Define which pins you want to use here
Const TrigPin As Byte = 13
Dim Range As Integer
Call PutPin(EchoPin, bxInputTristate)
Call PutPin(TrigPin, bxOutputLow)
do
Call PulseOut(TrigPin, 10, 1)
' 10uS Trigger pulse
Range = PulseIn(EchoPin, 1) \
54 ' use 54 for Cm or 137 for Inches
Debug.Print "Range is "; CStr(Range)
Call Delay(0.1)
' 100mS to next ping (minimum is 10mS)
loop
End Sub