Changes between Version 8 and Version 9 of ControlSystems/SoftwareTeam/Training/GettingStarted/UltrasonicRangefinder

Timestamp:

Nov 3, 2019, 10:48:54 PM (6 years ago)

Author:

David Albert

Comment:

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ControlSystems/SoftwareTeam/Training/GettingStarted/UltrasonicRangefinder

@@ -3 +3 @@
 Robots need to sense the environment around them, particularly when driving autonomously.  Ultrasonic sensors are like the sonar used by bats.  [[Image(UltrasonicSensor.jpg,right,250px,margin=10)]] They emit a chirp of sound and measure the time it takes to hear an echo of that chirp.  The longer the time, the further the sound traveled.  Since sound travels at a particular speed (about 1125 ft/s) through air, we can use the echo delay to calculate distance to the object was that reflected the sound.  You can read more about ultrasonic sensors on [https://wpilib.screenstepslive.com/s/currentCS/m/java/l/599715-ultrasonic-sensors-measuring-robot-distance-to-a-surface ScreenStepsLive]
 
-Ultrasonic sensors are connected to the RoboRIO using DIO ports.  In the example below, a sensor's Ping and Echo wires are connected to DIO1 and DIO0.
+Ultrasonic sensors are connected to the RoboRIO using DIO ports.  In the example below, a sensor's Ping/Trig and Echo wires are connected to DIO8 and DIO9 respectively.
 
 Create another program using the !TimedRobot java template and name it !UltrasonicTest. Modify the auto-generated template code as follows:
@@ -16 +16 @@
 * in robotInit() instantiate an ultrasonic object and set it to start automatically ranging 
   {{{
-    // Sensor is connected to DIO8, DIO9
+    // Sensor is connected to DIO8 (trig), DIO9 (echo)
     f_ultrasonic = new Ultrasonic(8,9);
     // Start sensor continuously pinging