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Theory of operation The SRF04 works by sending a pulse of sound outside the range of human hearing This pulse travels at the speed of sound (11 ft/ms) away from the ranger in a cone shape If any objects are in the path of the pulse, the sound is reflected off the object and back to the ranger The ranger is paused for a brief interval after the sound is transmitted and then awaits the reflected sound in the form of an echo The controller driving the ranger requests the device to create a 40-kHz sound pulse, and then waits for the return echo If the echo is received, the ranger reports this echo to the controller, and the controller can then compute the distance to the object, based on the elapsed time Connections The ranger requires four connections to operate The first two are the power and ground lines The ranger requires a 5-volt power supply capable of handling roughly 50 mA of continuous output The other two lines are the signal connections The first signal connection is the pulse trigger input line, and the second is the echo output line These two pins will be connected to two input/output (I/O) lines of the microcontroller Figure 714 shows the connection pins on the back of the device Note that the ground pin is on the far right and is marked with the letter G beside it
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FIGURE 714
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Basic timing There are a couple of requirements to consider about the input trigger and the output pulse generated by the ranger The input line should be held low (logic 0), and then brought high for a minimum of 10 sec to initiate the sonic pulse The pulse is generated on the falling edge of the input trigger The ranger s receive circuitry is held in a short blanking interval of 100 sec to avoid noise from the initial ping, and then it is enabled to listen to the echo The echo line is logic low until the receive circuitry is enabled Once the receive circuitry is enabled, the falling edge of the echo line signals either an echo detection or the timeout of 36 ms if no object is detected Figure 715 illustrates the timing sequence of the initial trigger input, the 40 kHz sonic burst that is generated, and the echo output pulse
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FIGURE 715
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The microcontroller will begin timing on the falling edge of the trigger input pulse, and end timing on the falling edge of the echo line This duration determines the distance between the sonar module and the object from which the echo is bounced back If no object is detected, a time-out will occur, which is indicated by the echo output line going high for approximately 36 ms
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FIGURE 716
Header pins soldered to the SRF04 ultrasonic ranger
Connecting the ultrasonic ranger to the robot First, solder four male header pins to the ranger, as shown in Figure 716 This is probably the best way to connect the ranger to the controller because the robot could possibly move the wires around during locomotion Wires soldered directly to PCBs have a tendency to fray at the solder joints and become disconnected The use of header pins eliminates this problem Fabricate a jumper wire made up of 4-strand ribbon wire cut to a length of 8-1/2 inches The end of the wire attached to the ranger uses a 5-connector female header Solder the wires to the female header connector Skip the pin that is not used and clip it off with wire cutters On the other end of the wire, use a pair of 2-connector female headers and solder the 5-volt and ground to one connector, and the trigger input and echo output to the other Figure 717 illustrates what the connector wire should resemble when it is finished
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