MbPro Sonar
From Merlin Systems Wiki
Miabot Pro Sonar accessory
The Miabot Pro sonar array package adds a 360º sonar array to the top of the robot. A demonstration PC application is also included.
The sonar array can fit up to 8 miniature sonar rangefinder units covering a full 360º around the robot (45º spacing).
1, 2, 4 or 8 units can be fitted depending on the application.
(At present only sold with 4 or 8?)
Possible layouts are like this (as supported in demo application):
8-way 4-way 2-way 1-way ^ \ / ^ \ / ^ < > < > / \ v v
The rangefinder devices are the Devantech (Robot Electronics) type SRF08. They have a range of up to 6 metres and a half-angle of view of about 30º. See datasheet (linked below, or on support disk)
The rangefinders are accessed via the robot I2C bus.
NOTE: Firmware 3v3 and above now includes a 'fast sonar read' command (see separate documentation below)
Contents |
Documentation
User Manual : Miabot_Sonar_Array_v1.0.pdf].
The board uses 8 (or 4) 'Devantech' SRF08 modules. See SRF08 datasheet
The fast-sonar read command is a recent addition (firmware 3v3 + above). Not yet in main manual. Details here - New_Sonar_Command.txt
Demo Application
(Installer ZIPs)
Newer Fast version
Fast readings, but needs firmware v3.3 or later Miabot_Sonar_Demo_v2.0.zip
NOTE: a later firmware release (v3.4 on) has an enhanced sonar access command. To make this work with the current sonar demo application, the following settings changes must also be made :-
[.rB1=2] [.rBN=12]
Note: the '.rBN' value is not that critical, but should be at least 6 (for first 3 returns)
- see 'sonar reading command' details New_Sonar_Command.txt for further explanation
.rG1(=255) bitmap of sonars 0-7 (addresses E0-EE) in first ping group
turn on the scan for the sonars
Older version
Slower updating using generic i2c access commands - for firmware v2.3 or later Miabot_Sonar_Demo_v1.1.zip
Build Info
Code required is just standard Pro firmware (release 2v3 and above)
See MbPro Sonar Build for construction mechanics
