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then bounces back Since we know that sound travels through air at approximately 1129 feet per second when the temperature is 21 degrees Celsius, we can accurately determine distance by measuring the amount of time between the transmission of the pulse and the return echo When the temperature drops, the speed of sound through air slows down If a temperature sensor was added, an algorithm to determine distance based on the speed of sound through air could take the surrounding temperature into account and adjust for differences The PicBasic Pro command called PULSIN returns the round trip echo time in 10 s units when using a 4-MHz oscillator Since the pulse width has a 10 s resolution per increment, that means that if PULSIN returns a value of 1, then 10 s have elapsed The factors to convert the raw data to inches and centimeters given in the SRF04 manual are 74 for inches (73746 s per 1 inch) and 29 for centimeters (29033 s per 1 cm) based on the Basic Stamps PULSIN command returning values in 2 s increments In the SRF04 manual, the calculation to determine the distance is not divided in half to take into account the return time of the pulse because the sample program is for the Basic Stamp II, which returns PULSIN values in 2 s increments Because the PULSIN command with PicBasic Pro is returning values in increments of 10 s, the conversion factor will need to be divided by 5, so that we get the correct value based on our 10 s increment Taking the PULSIN increment timing difference into account gives us an approximate conversion factor of 15 for inches and 6 for centimeters Testing with the ranger indicated that the raw value returned by PULSIN when an object was 12 inches away was 180 One hundred and eighty divided by the inch conversion factor of 15 gives us the correct distance of 12 inches In order to test the SRF04 sonar ranger, a program will be written to produce audible tones, based on the distance of an object from the device Compile the sonar-testbas code listed in Program 75,.

4:

Note Pad, as shown in the illustration that follows, allows you to open, create, and edit small notes Note Pad is not a full-featured word editor, so do not expect it to be something to rival Word for Windows Mobile However, it does a good job as a demonstration tool to show what is possible with a relatively small amount of code

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and then program the PICmicro MCU 16F84 with the sonar-testhex file listed in Program 76 When the PIC is inserted into the 18-pin socket on the main controller board and power is applied, move your hand slowly toward the ranger and notice that the tones produced by the PIC get lower the closer your hand gets to the device If no tones are produced when power is applied, then check to make sure that none of the connections from the sonar module to the controller board have been mixed up

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