转载] [Arduino模块]SRF01 超声波传感器
SRF01一款高性能的单探头超声波，其采用了Devantech最新的第二代自动调节技术，能够在自动校正后实现0cm无死区探测，探测范围为0-6米。设计上充分考虑了用户安装需求，配备了橡胶安装圈。
超声波模块可以用来获得在其声纳范围内与物体之间的距离。通过超声波模块，机器人就可以像蝙蝠一样通过声纳来感知周围的环境，通过对电机的控制从而实现避障功能。
/******************************************************************* Arduino example for SRF01 and LCD03. *
* Takes a range in CM and displayes it on the LCD03 screen *
* Both the SRF01 and the LCD0 use their own software serial port*
* *
* By James Henderson, 2012 *
******************************************************************/
#include <SoftwareSerial.h>
#define LCD_RX 0x02 // Defines pin to be used as rx pin for LCD03
#define LCD_TX 0x03 // Defines pin to be used as tx pin for LCD03
#define SRF_TXRX 0x05 // Defines pin to be used as RX and TX for SRF01
#define LCD_SET_CUR 0x02 // Byte used to tell LCD03 we wish to move the cursor
#define LCD_CLEAR 0x0C // Byte used to clear LCD03 screen
#define LCD_HIDE_CUR 0x04 // Byte used to hide LCD03 cursor
#define SRF_ADDRESS 0x01 // Address of the SFR01
#define GETSOFT 0x5D // Byte to tell SRF01 we wish to read software version
#define GETRANGE 0x54 // Byte used to get range from SRF01
#define GETSTATUS 0x5F // Byte used to get the status of the transducer
SoftwareSerial lcd03 = SoftwareSerial(LCD_RX, LCD_TX); // Sets up software serial port for the LCD03
SoftwareSerial srf01 = SoftwareSerial(SRF_TXRX, SRF_TXRX); // Sets up software serial port for the SRF01
void setup(){
srf01.begin(9600);
lcd03.begin(9600);
srf01.listen(); // Make sure that the SRF01 software serial port is listening for data as only one software serial port can listen at a time
delay(200); // Waits some time to make sure everything is powered up
lcd03.write(LCD_CLEAR);
lcd03.print("SRF01 Example");
lcd03.write(LCD_HIDE_CUR);
byte softVer;
SRF01_Cmd(SRF_ADDRESS, GETSOFT); // Request the SRF01 software version
while (srf01.available() < 1);
softVer = srf01.read(); // Read software version from SRF01
lcd03.write(LCD_SET_CUR);
lcd03.write(18); // Moves the cursor to space 18
lcd03.print("V:");
lcd03.print(softVer,DEC); // Prints the software version to LCD03
}
void loop(){
byte hByte, lByte, statusByte, b1, b2, b3;
SRF01_Cmd(SRF_ADDRESS, GETRANGE); // Get the SRF01 to perform a ranging and send the data back to the arduino
while (srf01.available() < 2);
hByte = srf01.read(); // Get high byte
lByte = srf01.read(); // Get low byte
int range = ((hByte<<8)+lByte); // Put them together
lcd03.write(LCD_SET_CUR);
lcd03.write(21); // Move the cursor to location 21
lcd03.print("Range = ");
lcd03.print(range, DEC); // Print range result to the screen
lcd03.print(""); // Print some spaces to the screen to make sure space direcly after the result is clear
SRF01_Cmd(SRF_ADDRESS, GETSTATUS); // Request byte that will tell us if the transducer is locked or unlocked
while (srf01.available() < 1);
statusByte = srf01.read(); // Reads the SRF01 status, The least significant bit tells us if it is locked or unlocked
int newStatus = statusByte & 0x01; // Get status of lease significan bit
if(newStatus == 0){
lcd03.write(LCD_SET_CUR);
lcd03.write(61); // Moves the cursor to location 61
lcd03.print("Unlocked"); // Prints the word unlocked followd by a couple of spaces to make sure space after has nothing in
}
else {
lcd03.write(LCD_SET_CUR);
lcd03.write(61); // Moves cursor to location 61
lcd03.print("Locked "); // Prints the word locked followd by a couple of spaces to make sure that the space after has nothing in
}
delay(100);
}
void SRF01_Cmd(byte Address, byte cmd){ // Function to send commands to the SRF01
pinMode(SRF_TXRX, OUTPUT);
digitalWrite(SRF_TXRX, LOW); // Send a 2ms break to begin communications with the SRF01
delay(2);
digitalWrite(SRF_TXRX, HIGH);
delay(1);
srf01.write(Address); // Send the address of the SRF01
srf01.write(cmd); // Send commnd byte to SRF01
pinMode(SRF_TXRX, INPUT);
int availbleJunk = srf01.available(); // As RX and TX are the same pin it will have recieved the data we just sent out, as we dont want this we read it back and ignore it as junk before waiting for useful data to arrive
for(int x = 0;x < availbleJunk; x++) byte junk = srf01.read();
}
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