SEN0001

    URM37 V4.0 Ultrasonic Sensor (SKU:SEN0001) URM37 V4.0 Ultrasonic Sensor Contents        1 Introduction 2 Specification 3 PinOut 4 Tutorial 4.1 Button for RS232/TTL Choosing 4.2 Test on Software 4.3 Othere Setting address in EEPROM 4.4 The factory default settings 4.5 Three Measure Modes 4.5.1 PWM trigger mode 4.5.2 Auto Measure Mode 4.5.3 Serial Passive Mode 4.6 Servo Rotation Reference Table 5 Protocol 6 Trouble shooting 7 More Introduction URM37 V4.0 Ultrasonic Sensor uses an industrial level AVR processor as the main processing unit. It comes with a temperature correction which is very unique in its class. URM37 V3.2 (last version) has already been a very good realization of ultrasonic switch and serial (TTL and RS232 level optional), pulse output function, the module can also control a servo rotation to realize a spatial ultrasound scanner. On this basis we have to upgrade the function. URM37 V4.0, the current version has better intelligence capabilities, meanwhile, mechanical dimensions and pin interface and communication commands are compatible with V3.2, V3.2 has been reversed based on the following changes:         Serial level selected from the skipped stitches to button, user can easily select RS232 or TTL-level output level output by pressing the settings( after reboot ). Modified the algorithm, so dead zone was reduced and enhance accuracy. Analog voltage output, voltage and the measured distance is proportional. Wide voltage support +3.3V-5.0V. Power reverse protection. Automatic measurement of time interval can be modified. Modify a servo controlled angle of 0-180, compatible with the most of the servos on the market. Measuring time is 100ms. Specification         Power: +3.3V～+5.0V Current: Pin 1 VCC (URM V4.0) 15 // # GND (Arduino) -> Pin 2 GND (URM V4.0) 16 // # Pin 3 (Arduino) -> Pin 4 ECHO (URM V4.0) 17 // # Pin 5 (Arduino) -> Pin 6 COMP/TRIG (URM V4.0) 18 // # Pin A0 (Arduino) -> Pin 7 DAC (URM V4.0) 19 // # Working Mode: PWM trigger pin mode. 20 21 #define Measure 1 //Mode select 22 int URECHO = 3; // PWM Output 0-25000US,Every 50US represent 1cm 23 int URTRIG = 5; // PWM trigger pin 24 int sensorPin = A0; // select the input pin for the potentiometer 25 int sensorValue = 0; sor // variable to store the value coming from the sen 26 27 unsigned int DistanceMeasured= 0; 28 29 void setup() 30 { 31 //Serial initialization 32 Serial.begin(9600); // Sets the baud rate to 9600 33 G pinMode(URTRIG,OUTPUT); // A low pull on pin COMP/TRI 34 digitalWrite(URTRIG,HIGH); // Set to HIGH 35 pinMode(URECHO, INPUT); mmand 36 delay(500); 37 Serial.println("Init the sensor"); // Sending Enable PWM mode co 38 39 } 40 void loop() 41 { 42 PWM_Mode(); 43 delay(100); 44 } 45 46 void PWM_Mode() G triggering a sensor reading // a low pull on pin COMP/TRI 47 { 48 Serial.print("Distance Measured="); 49 digitalWrite(URTRIG, LOW); 50 digitalWrite(URTRIG, HIGH); pulses 51 if( Measure) 52 { // reading Pin PWM will output 53 unsigned long LowLevelTime = pulseIn(URECHO, LOW) ; 54 if(LowLevelTime>=45000) 55 { 56 Serial.print("Invalid"); 57 } 58 else{ 59 DistanceMeasured = LowLevelTime /50; for 1cm 60 Serial.print(DistanceMeasured); 61 Serial.println("cm"); 62 63 // the reading is invalid. } // every 50us low level stands 64 } 65 else { 66 sensorValue = analogRead(sensorPin); 67 if(sensorValue Pin 1 VCC (URM V4.0) 16 // # GND (Arduino) -> Pin 2 GND (URM V4.0) 17 // # Pin 3 (Arduino) -> Pin 4 ECHO (URM V4.0) 18 // # Pin TX1 (Arduino) -> Pin 8 RXD (URM V4.0) 19 // # Pin RX0 (Arduino) -> Pin 9 TXD (URM V4.0) 20 // # Working Mode: autonomous mode. 21 22 int URECHO = 3; // PWM Output 0－25000US，Every 50US represent 1cm 23 24 unsigned int Distance=0; 25 uint8_t EnPwmCmd[4]={0x44,0x02,0xaa,0xf0}; // distance measure command 26 27 void setup(){ // Serial initialization 28 0 Serial.begin(9600); // Sets the baud rate to 960 29 AutonomousMode_Setup(); 30 } 31 32 void loop() 33 { 34 AutonomousMode(); 35 delay(100); 36 } //PWM mode setup function 37 38 void AutonomousMode_Setup(){ 39 pinMode(URECHO, INPUT); command 40 for(int i=0;i=45000){ 47 Serial.print("Invalid"); 48 49 } else{ 50 Distance=DistanceMeasured/50; ds for 1cm 51 Serial.print("Distance="); 52 Serial.print(Distance); 53 Serial.println("cm"); 54 // the reading is invalid. // every 50us low level stan } 55 56 } result Arduino send the distance information to the computer through serial. Serial Passive Mode In this mode, actually, as long as you wire the module TX & RX with the MCU, just as we did in the [test on software],you are using this mode.By serial, you have all authority to access to the sensor such as: ultrasonic distance measurement, temperature measurement, the distance changes, automatic measurement intervals set, serial port set(RS232 or TTL, reboot to take effect). e.g. 1. 2. 3. 4. Read the temperature data command： 0x11 0x00 0x00 0x11 Read the distance data command： 0x22 0x00 0x00 0x22 Read EEPROM data command： 0x33 0x00 0x00 0x33 Write EEPROM data command： 0x44 0x02 0x00 0x46 Download the code below to your uno board(if you use the leonardo,please modify the code for the serial problem, help on arduino.cc ), then wire the TX/RX,5V,GND.Follow [test on software].Here,we use the sensor to read the tempreture. Demo Code 1 2 // # Editor : ZRH from DFRobot 3 // # Date : 29.08.2014 4 5 // # Product name: URM V4.0 ultrasonic sensor 6 // # Product SKU : SEN0001 7 // # Version : 1.0 8 9 // # Description: 10 // # The sketch for using the URM37 Serial 11 // # mode from DFRobot and writes the values to the serialport 12 13 // # Connection: 14 // # Vcc (Arduino) -> Pin 1 VCC (URM V4.0) 15 // # GND (Arduino) -> Pin 2 GND (URM V4.0) 16 // # Pin TX1 (Arduino) -> Pin 8 RXD (URM V4.0) 17 // # Pin RX0 (Arduino) -> Pin 9 TXD (URM V4.0) 18 // # Working Mode: Serial Mode. 19 20 uint8_t EnTempCmd[4]={0x11,0x00,0x00,0x11}; and 21 uint8_t TempData[4]; 22 unsigned int TempValue=0; 23 void setup() 24 { 25 Serial.begin(9600); 26 delay(100); 27 Serial.println("Init the sensor"); 28 } 29 void loop() 30 { 31 SerialCmd(); 32 delay(200); 33 } // temperature measure comm 34 void SerialCmd() 35 { 36 int i; 37 for(i = 0;i < 4;i++){ 38 39 Serial.write(EnTempCmd[i]); } 40 while (Serial.available() > 0) 41 { 42 //if serial receive any data for(i = 0;i < 4;i++){ 43 TempData[i] = Serial.read(); 44 } 45 TempValue = TempData[1] GND (Arduino) // # Pin 4 PWM (URM V3.2) -> Pin 3 (Arduino) // # Pin 6 COMP/TRIG (URM V3.2) -> Pin 5 (Arduino) // # Pin mode: PWM // # Working Mode: PWM passive control mode. // # If it is your first time to use it,please make sure the two jumpers to t he right hand // # side of the device are set to TTL mode. You'll also find a secondary jum per on // # the left hand side, you must break this connection or you may damage you r device. #include // Include Servo library Servo myservo; control a servo // create servo object to int pos=0; servo position // variable to store the int URPWM=3; very 50us represent 1cm // PWM Output 0-25000us,e int URTRIG=5; // PWM trigger pin boolean up=true; ble // create a boolean varia unsigned long time; // create a time variable unsigned long urmTimer = 0; e sensor reading flash rate // timer for managing th unsigned int Distance=0; uint8_t EnPwmCmd[4]={0x44,0x22,0xbb,0x01}; nd // distance measure comma void setup(){ // Serial initialization Serial.begin(9600); 600 // Sets the baud rate to 9 myservo.attach(9); // Pin 9 to control servo PWM_Mode_Setup(); } void loop(){ if(millis()-time>=20){ time=millis(); f programme if(up){ // interval 0.02 seconds // get the current time o // judge the condition if(pos>=0 && pos179) up= false; ain } else { if(pos>=1 && pos