Kart/sensors/HCSR04
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Ultrasound ranger
The elecfreaks Ultrasonic sensor distance measuring module receives a trigger pulse, sends an ultrasonic pulse train and the provides a pulse whose length is proportional to the sound flight and echo time.
It has a dedicated connector on the I/O board.
The ultrasoundRanger
block in the sensors
FPGA counts the ultrasonic pulse length in terms of the 10 MHz clock periods.
The distance is thus given by: