URM37_V4.0_Ultrasonic_Sensor_SKU_SEN0001 - jimaobian/DFRobotWiki GitHub Wiki

// # Editor     : ZRH from DFRobot
// # Date       : 29.08.2014

// # Product name: URM V4.0 ultrasonic sensor
// # Product SKU : SEN0001
// # Version     : 1.0

// # Description:
// # The Sketch for scanning 180 degree area 3-500cm detecting range
// # The sketch for using the URM37 PWM trigger pin mode from DFRobot
// #   and writes the values to the serialport
// # Connection:
// #       Vcc (Arduino)    -> Pin 1 VCC (URM V4.0)
// #       GND (Arduino)    -> Pin 2 GND (URM V4.0)
// #       Pin 3 (Arduino)  -> Pin 4 ECHO (URM V4.0)
// #       Pin 5 (Arduino)  -> Pin 6 COMP/TRIG (URM V4.0)
// #       Pin A0 (Arduino) -> Pin 7 DAC (URM V4.0)
// # Working Mode: PWM trigger pin  mode.

#define  Measure  1     //Mode select
int URECHO = 3;         // PWM Output 0-25000US,Every 50US represent 1cm
int URTRIG = 5;         // PWM trigger pin
int sensorPin = A0;     // select the input pin for the potentiometer
int sensorValue = 0;    // variable to store the value coming from the sensor

unsigned int DistanceMeasured= 0;

void setup()
{
  //Serial initialization
  Serial.begin(9600);                        // Sets the baud rate to 9600
  pinMode(URTRIG,OUTPUT);                    // A low pull on pin COMP/TRIG
  digitalWrite(URTRIG,HIGH);                 // Set to HIGH
  pinMode(URECHO, INPUT);                    // Sending Enable PWM mode command
  delay(500);
  Serial.println("Init the sensor");

 }
void loop()
{
  PWM_Mode();
  delay(100);
}

void PWM_Mode()                              // a low pull on pin COMP/TRIG  triggering a sensor reading
{
  Serial.print("Distance Measured=");
  digitalWrite(URTRIG, LOW);
  digitalWrite(URTRIG, HIGH);               // reading Pin PWM will output pulses
  if( Measure)
  {
    unsigned long LowLevelTime = pulseIn(URECHO, LOW) ;
    if(LowLevelTime>=45000)                 // the reading is invalid.
    {
      Serial.print("Invalid");
    }
    else{
    DistanceMeasured = LowLevelTime /50;   // every 50us low level stands for 1cm
    Serial.print(DistanceMeasured);
    Serial.println("cm");
  }

  }
  else {
    sensorValue = analogRead(sensorPin);
    if(sensorValue<=10)                   // the reading is invalid.
    {
      Serial.print("Invalid");
    }
    else {
    sensorValue = sensorValue*0.718;
    Serial.print(sensorValue);
    Serial.println("cm");
    }
  }
}

       //Put your code here

// # Editor    :Zrh from DFRobot
// # Data      :29.08.2014
// # Product name:ultrasonic scanner
// # Product SKU:SEN0001
// # Version :  1.0

// # Description:
// # The sketch for using the URM37 autonomous  mode from DFRobot
// #   and writes the values to the serialport


// # Connection:
// #       Vcc (Arduino)      -> Pin 1 VCC (URM V4.0)
// #       GND (Arduino)      -> Pin 2 GND (URM V4.0)
// #       Pin 3 (Arduino)    -> Pin 4 ECHO (URM V4.0)
// #       Pin TX1 (Arduino)  -> Pin 8 RXD (URM V4.0)
// #       Pin RX0 (Arduino)  -> Pin 9 TXD (URM V4.0)
// # Working Mode: autonomous  mode.

int URECHO = 3; // PWM Output 0－25000US，Every 50US represent 1cm

unsigned int Distance=0;
uint8_t EnPwmCmd[4]={0x44,0x02,0xaa,0xf0};    // distance measure command

void setup(){                                 // Serial initialization
  Serial.begin(9600);                         // Sets the baud rate to 9600
  AutonomousMode_Setup();
}

void loop()
{
 AutonomousMode();
 delay(100);
}                      //PWM mode setup function

void AutonomousMode_Setup(){
  pinMode(URECHO, INPUT);                      // Sending Enable PWM mode command
  for(int i=0;i<4;i++){
      Serial.write(EnPwmCmd[i]);
   }
}
void AutonomousMode(){
    unsigned long DistanceMeasured=pulseIn(URECHO,LOW);
    if(DistanceMeasured>=45000){              // the reading is invalid.
      Serial.print("Invalid");
   }
    else{
      Distance=DistanceMeasured/50;           // every 50us low level stands for 1cm
      Serial.print("Distance=");
      Serial.print(Distance);
      Serial.println("cm");
   }

}

// # Editor     : ZRH from DFRobot
// # Date       : 29.08.2014

// # Product name: URM V4.0 ultrasonic sensor
// # Product SKU : SEN0001
// # Version     : 1.0

// # Description:
// # The sketch for using the URM37 Serial  mode from DFRobot
// #   and writes the values to the serialport

// # Connection:
// #       Vcc (Arduino)      -> Pin 1 VCC (URM V4.0)
// #       GND (Arduino)      -> Pin 2 GND (URM V4.0)
// #       Pin TX1 (Arduino)  -> Pin 8 RXD (URM V4.0)
// #       Pin RX0 (Arduino)  -> Pin 9 TXD (URM V4.0)
// # Working Mode: Serial  Mode.

uint8_t EnTempCmd[4]={0x11,0x00,0x00,0x11};    // temperature measure command
uint8_t TempData[4];
unsigned int TempValue=0;
void setup()
{
  Serial.begin(9600);
  delay(100);
  Serial.println("Init the sensor");
}
void loop()
{
  SerialCmd();
  delay(200);
}
void SerialCmd()
{
   int i;
   for(i = 0;i < 4;i++){
      Serial.write(EnTempCmd[i]);
   }
    while (Serial.available() > 0)  //if serial receive any data
    {
       for(i = 0;i < 4;i++){
         TempData[i] = Serial.read();
       }
       TempValue = TempData[1]<<8;
       TempValue =TempValue+TempData[2];
       Serial.print("temperature : ");
       Serial.print(TempValue,DEC);
       Serial.println(" oC");
    }
}

// # Editor    : Jiang from DFRobot
// # Data      : 24.07.2012

// # Product name:ultrasonic scanner Kit
// # Product SKU:SEN0001
// # Version :  0.2

// # Description:
// # The Sketch for scanning 180 degree area 4-500cm detecting range

// # Connection:
// #       Pin 1 VCC (URM V3.2) -> VCC (Arduino)
// #       Pin 2 GND (URM V3.2) -> GND (Arduino)
// #       Pin 4 PWM (URM V3.2) -> Pin 3 (Arduino)
// #       Pin 6 COMP/TRIG (URM V3.2) -> Pin 5 (Arduino)
// # Pin mode: PWM
// # Working Mode: PWM passive control mode.
// # If it is your first time to use it,please make sure the two jumpers to the right hand
// # side of the device are set to TTL mode. You'll also find a secondary jumper on
// # the left hand side, you must break this connection or you may damage your device.

#include <Servo.h>                                  // Include Servo library
Servo myservo;                                      // create servo object to control a servo

int pos=0;                                          // variable to store the servo position
int URPWM=3;                                        // PWM Output 0-25000us,every 50us represent 1cm
int URTRIG=5;                                       // PWM trigger pin
boolean up=true;                                    // create a boolean variable
unsigned long time;                                 // create a time variable
unsigned long urmTimer = 0;                          // timer for managing the sensor reading flash rate

unsigned int Distance=0;
uint8_t EnPwmCmd[4]={0x44,0x22,0xbb,0x01};          // distance measure command

void setup(){                                      // Serial initialization
  Serial.begin(9600);                              // Sets the baud rate to 9600
  myservo.attach(9);                                // Pin 9 to control servo
  PWM_Mode_Setup();
}

void loop(){
   if(millis()-time>=20){                           // interval 0.02 seconds
     time=millis();                                 // get the current time of programme
     if(up){                                        // judge the condition
      if(pos>=0 && pos<=179){
        pos=pos+1;                                  // in steps of 1 degree
        myservo.write(pos);                         // tell servo to go to position in variable 'pos'
      }
      if(pos>179)  up= false;                       // assign the variable again
    }
     else {
      if(pos>=1 && pos<=180){
        pos=pos-1;
        myservo.write(pos);
      }
      if(pos<1)  up=true;
    }
   }

   if(millis()-urmTimer>50){
     urmTimer=millis();
     PWM_Mode();
   }
 }

 void PWM_Mode_Setup(){
  pinMode(URTRIG,OUTPUT);                            // A low pull on pin COMP/TRIG
  digitalWrite(URTRIG,HIGH);                         // Set to HIGH

  pinMode(URPWM, INPUT);                             // Sending Enable PWM mode command

  for(int i=0;i<4;i++){
      Serial.write(EnPwmCmd[i]);
   }
}

void PWM_Mode(){                                     // a low pull on pin COMP/TRIG  triggering a sensor reading
    digitalWrite(URTRIG, LOW);
    digitalWrite(URTRIG, HIGH);                      // reading Pin PWM will output pulses

    unsigned long DistanceMeasured=pulseIn(URPWM,LOW);

    if(DistanceMeasured==50000){                     // the reading is invalid.
      Serial.print("Invalid");
   }
    else{
      Distance=DistanceMeasured/50;                  // every 50us low level stands for 1cm
   }
  Serial.print("Distance=");
  Serial.print(Distance);
  Serial.println("cm");
}