How to use the Sonar

Two nodes:

• sonarDriver
• sonarLoc

The sonarDriver takes care of talking to the sonar itself, it will initialize it and then begin collecting data from the sonar and storing it in a shared location which sonarLoc is able to access.

sonarLoc expects bearing in the form of gradients and expects the index of a bin which is higher than a pre-set threshold.

---

Software

sonarDriver.cpp

Publishes:

• Bearing (1/16 Grad)
• Binaries (string of 45 bytes)

Subscribes:

sonarLoc.cpp

Publishes: Subscribes:

---

Connection (Clockwise, from top)

• Pin 1 : Black
• Pin 2 : Screen
• Pin 3 : Blue
• Pin 4 : Yellow
• Pin 5 : Green
• Pin 6 : Red