NEX ROBOTICS SPARK V ATMEGA16 Hardware Manual page 26

SPARK V ATMEGA16 Hardware Manual
3.10 Ultrasonic range sensors
Figure 3.19: Ultrasonic range sensors and jumper settings to enable them
Spark V robot can be equipped with the 4 ultrasonic sensors from MaxBotix. Three sensors are
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mounted just above the 3 IR proximity sensors. 4 Sensor can be mounted on the servo motor for
taking 180 degrees scan for map making (marked as 4). Each sensor can sense distance range
from 6 inches to 254 inches. Ultrasonic sensor transmits a narrow beam of ultrasonic pulse and
measures time taken for echo of the beam. It gives output proportional to time taken for the
ultrasonic beam to return echo from the obstacle.
Spark V robot supports EZ0 to EZ4 series of ultrasonic range sensors from MaxBotix. Sensor
gives out analog output with 1 inch resolution. It gives output voltage of 9.8mV per inch. After
powering up, for first 100mS sensor runs calibration cycle. After that it can give readings with
49mS interval.
Figure 3.19 shows locations of the ultrasonic sensors. They are numbered as 1, 2, and 3 from left
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to right. Number "4" marks connector for the 4 ultrasonic range sensor which can be mounted
on the servo motor for taking 180 degrees range scan.
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA 26