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Amphibionics 07 3/24/03 9:13 AM Page 290
FIGURE 7.16
Header pins soldered to
the SRF04 ultrasonic Amphibionics
ranger.

Connecting the ultrasonic ranger to the robot. First, solder
four male header pins to the ranger, as shown in Figure 7.16. This
is probably the best way to connect the ranger to the controller
because the robot could possibly move the wires around during
locomotion. Wires soldered directly to PCBs have a tendency to
fray at the solder joints and become disconnected. The use of
header pins eliminates this problem.
Fabricate a jumper wire made up of 4-strand ribbon wire cut to a
length of 8-1/2 inches. The end of the wire attached to the ranger
uses a 5-connector female header. Solder the wires to the female
header connector. Skip the pin that is not used and clip it off with
wire cutters. On the other end of the wire, use a pair of 2-con-
nector female headers and solder the 5-volt and ground to one
connector, and the trigger input and echo output to the other.
Figure 7.17 illustrates what the connector wire should resemble
when it is finished.

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