[Arduino Uno R3 예제] 5. URM37(초음파센서)

-전원 : + 3.3V ~ + 5.0V

-현재 : <20mA

-작동 온도 : -10 ~ +70 C

-감지 범위 : 5cm - 500cm (2-196)

-해상도 : 1cm (o.39범위)

-인터페이스 : RS232 (TTL), PWM, 스위치, 아날로그

-크기 : (0.87) 22mm × 51mm (2)

-무게 : 25g

준비물

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아두이노 우노, URM37

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회로도

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출처- https://media.digikey.com/pdf/Data%20Sheets/DFRobot%20PDFs/SEN0001_Web.pdf

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소스코드

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// # 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");
    }
  }
}

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결과영상

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