Ultrasonic Rangefinder

Robots often need to sense the environment around them, particularly when driving autonomously. Ultrasonic sensors are like the sonar used by bats. 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 through air, we can use the echo delay to calculate how far away the object was that reflected the sound. You can read more about ultrasonic sensors ​here

Create another program using the TimedRobot java template and name it UltrasonicTest. Modify the generated code as follows:

• import the Ultrasonic class import edu.wpi.first.wpilibj.Ultrasonic;
• declare a ultrasonic variable in the Robot class private Ultrasonic f_ultrasonic;
• in robotInit() instantiate an ultrasonic object and set it to start automatically ranging

    f_ultrasonic = new Ultrasonic(1,0);
    f_ultrasonic.setAutomaticMode(true);
  

• in robotPeriodic() read and display the range

    if (f_ultrasonic.isRangeValid()) {
       SmartDashboard.putNumber("Front range", f_ultrasonic.getRangeInches());
    }
  

Run the program and observe the "Front range" value in the ​Smart Dashboard as you move the robot towards and away from the wall.

Notice that the measurements aren't always perfect; the sensor may receive echos from multiple surfaces.