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arduino:Controller_for_Cybot [2021/07/30 03:55] – tonyarduino:Controller_for_Cybot [2026/09/26 10:00] (current) – tony
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 |I|output|received echo signal| |I|output|received echo signal|
 ===== Replacing the Cybot functions ===== ===== Replacing the Cybot functions =====
-==== Arduino Sonar replacement ====+==== Arduino sonar replacement ====
 The most difficult controller function to replace appears to me to be the ultrasonic sensors. The hardware is fairly minimal and a lot of the work has to be done in software. The most difficult controller function to replace appears to me to be the ultrasonic sensors. The hardware is fairly minimal and a lot of the work has to be done in software.
  
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 On the left is one of the sonar driver outputs (top trace) with the multiple echoes (bottom trace). On the right, on a longer time base, is again the sonar pulse (top trace), and multiple groups of echo from different objects (bottom trace) On the left is one of the sonar driver outputs (top trace) with the multiple echoes (bottom trace). On the right, on a longer time base, is again the sonar pulse (top trace), and multiple groups of echo from different objects (bottom trace)
  
-==== Arduino Sonar wiring ====+==== Arduino sonar wiring ====
 Tested by connecting the Arduino directly to the sonar board, supplying power to the Arduino and Sonar board via the USB connector. Tested by connecting the Arduino directly to the sonar board, supplying power to the Arduino and Sonar board via the USB connector.
  
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 |5|I/O|2|gate2|- disable by pulling low, enable by letting float (switch to input mode)| |5|I/O|2|gate2|- disable by pulling low, enable by letting float (switch to input mode)|
  
-==== Arduino Sonar test code ====+==== Arduino sonar test code ====
  
   * {{arduino:cybot:v1.00:Cybot-sonar-test.ino}}, sketch to test drive the Cybot's sonar board.  This is a stand-alone piece of code to test drive the sonar, it expects an ANSI serial terminal program is present to display the results.   * {{arduino:cybot:v1.00:Cybot-sonar-test.ino}}, sketch to test drive the Cybot's sonar board.  This is a stand-alone piece of code to test drive the sonar, it expects an ANSI serial terminal program is present to display the results.
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 ====== References and Additional Resources ====== ====== References and Additional Resources ======
-===== Cybot Sonar =====+===== Cybot sonar =====
      * [[https://web.archive.org/web/20170530184650/http://www.cybench.co.uk/cybot/sonar.php|Cybot sonar circuit analysis]]      * [[https://web.archive.org/web/20170530184650/http://www.cybench.co.uk/cybot/sonar.php|Cybot sonar circuit analysis]]
      * [[http://www.adrirobot.it/cybot/cybot/sonar_io/sonar_io.htm|Cybot sonar circuit, Italian]]      * [[http://www.adrirobot.it/cybot/cybot/sonar_io/sonar_io.htm|Cybot sonar circuit, Italian]]

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arduino/Controller_for_Cybot.txt · Last modified: 2026/09/26 10:00 by tony
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