Page 332 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 07 3/24/03 9:13 AM Page 311
PROGRAM 7.5
SOUND PIEZO,[115,10,50,10]
sonar-test.bas program
start: Chapter 7 / Turtletron: Build Your Own Robotic Turtle
listing (continued)
main:
gosub sr_sonar

if freq > 47 then main

sound piezo,[80 + freq,10]

Goto main

'------------------------------------------------------------------------------------------------------------------------------

sr_sonar:

pulsout trigger,1 ' send a 10us trigger pulse to
the SRF04

pulsin echo,1,dist_raw ' start timing the pulse width
on echo pin

dist_inch = (dist_raw/conv_inch) ' Convert raw data into inches

freq = (dist_raw/conv_freq) ' Convert raw data into a
frequency

pause 10 ' wait for 10ms before
returning to main

return

end

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