[转载] [Arduino模块]SRF02,SRF08,SRF10,SRF235超声波传感
SRF02, SRF08, SRF10, SRF235 超声波传感器
电路示意：
http://image.ednchina.com/GROUP/IMAGES/8957283574_1359512245030.gif
代码示例：
/*
Generic example for the SRF modules 02, 08, 10 and 235.
Only the SRF08 uses the light saensor so when any other
range finder is used with this code the light reading will
be a constant value.
*/
#include <Wire.h>
#include <SoftwareSerial.h>
#define rxPin 2 // Software serial pin for rx
#define txPin 3 // Software serial pin for tx
#define srfAddress 0x70 // Address of the SRF08
#define cmdByte 0x00 // Command byte
#define lightByte 0x01 // Byte to read light sensor
#define rangeByte 0x02 // Byte for start of ranging data
#define clrScrn 0x0C // Byte to clear LCD03 screen
#define mvCsr 0x02 // Byte to tell LCD03 we wish to move cursor
#define hideCsr 0x04 // Byte to hide the cursor
SoftwareSerial lcd_03 =SoftwareSerial(rxPin, txPin); // defines a new software serial port for lcd_03
byte highByte = 0x00; // Stores high byte from ranging
byte lowByte = 0x00; // Stored low byte from ranging
void setup(){
lcd_03.begin(9600); // Begins serial port for LCD_03
Wire.begin();
delay(100); // Waits to make sure everything is powered up before sending or receiving data
pinMode(rxPin, INPUT);
pinMode(txPin, OUTPUT);
lcd_03.print(clrScrn, BYTE);
lcd_03.print(hideCsr, BYTE);
lcd_03.println("SRF02/08/10/235");
int softRev = getSoft(); // Calls function to get software revision
lcd_03.print(mvCsr, BYTE);
lcd_03.print(0x3D, BYTE); // Move cursor to space 16
lcd_03.print("Software version: ");
lcd_03.print(softRev, DEC); // Print softRev to LCD03
}
void loop(){
int rangeData = getRange(); // Calls a function to get range
lcd_03.print(mvCsr, BYTE);
lcd_03.print(0x15, BYTE); // Move cursor to space 21
lcd_03.print("Range = ");
lcd_03.print(rangeData, DEC); // Print rangeData to LCD03
lcd_03.print(" "); // Print some spaces to slear spaces after data
int lightData = getLight(); // Call function to get light reading and store in lightData
lcd_03.print(mvCsr, BYTE);
lcd_03.print(41, BYTE); // Move cursor to space 41
lcd_03.print("light = ");
lcd_03.print(lightData, DEC); // Display lightData
lcd_03.print(""); // Print some spaces to slear spaces after data
delay(100); // Wait before looping
}
int getRange(){ // This function gets a ranging from the SRF08
int range = 0;
Wire.beginTransmission(srfAddress); // Start communticating with SRF08
Wire.send(cmdByte); // Send Command Byte
Wire.send(0x51); // Send 0x51 to start a ranging
Wire.endTransmission();
delay(100); // Wait for ranging to be complete
Wire.beginTransmission(srfAddress); // start communicating with SRFmodule
Wire.send(rangeByte); // Call the register for start of ranging data
Wire.endTransmission();
Wire.requestFrom(srfAddress, 2); // Request 2 bytes from SRF module
while(Wire.available() < 2); // Wait for data to arrive
highByte = Wire.receive(); // Get high byte
lowByte = Wire.receive(); // Get low byte
range = (highByte << 8) + lowByte; // Put them together
return(range); // Returns Range
}
int getLight(){ // Function to get light reading
Wire.beginTransmission(srfAddress);
Wire.send(lightByte); // Call register to get light reading
Wire.endTransmission();
Wire.requestFrom(srfAddress, 1); // Request 1 byte
while(Wire.available() < 0); // While byte available
int lightRead = Wire.receive(); // Get light reading
return(lightRead); // Returns lightRead
}
int getSoft(){ // Function to get software revision
Wire.beginTransmission(srfAddress); // Begin communication with the SRF module
Wire.send(cmdByte); // Sends the command bit, when this bit is read it returns the software revision
Wire.endTransmission();
Wire.requestFrom(srfAddress, 1); // Request 1 byte
while(Wire.available() < 0); // While byte available
int software = Wire.receive(); // Get byte
return(software);
}
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