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Unread 05-11-2007, 11:47
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Re: SONAR Sensor Software Driver

Quote:
Originally Posted by Roger View Post
we're using the vex sonar in our FRC robot, which has two pwm type plugs labeled INPUT and OUTPUT. We're not quite sure which locations these two wires should be plugged in at the controller, which the above sonar code is expecting.
When I wrote this software for my capstone project in college it was using the Vex sensor. I chose the Vex sensor because of it's protective case. Wiring the Vex sensor to an FRC controller requires some simple electrical work. In the software SONAR_OUTPUT, is actually the control input to the Vex sonar device. The output of the rangefinder is connected to an interrupt capable digital i/o pin on the FRC controller.

Vex Rangefinder Input Cable
Red = +5V
Black = GND
Yellow = Control = SONAR_OUTPUT (rc dig i/o 16) = Driving this high causes the SONAR to send echo

Vex Rangefinder Output Cable
Red = +5V
Black = GND
Orage = Signal = Hardware_Interrupt_Sonar() = Interupt 1 (software needs interrupt 1)
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