7. BitBotXL distance sensor

The BitBotXL fits the Ultrasonic Distance Sensor Breakout distance sensor at the front.
It can be treated as if it is a the standard HC_SR04P distance sensor, but with one pin connection.

7.1. HC_SR04P

For general info on the HC_SR04P distance sensor,
see: https://shop.4tronix.co.uk/products/hc-sr04p-low-voltage-ultrasonic-distance-sensor
Also see: https://shop.4tronix.co.uk/collections/robobit/products/ultrasonic-breakout
HC_SR04P
There are two “eyes” on the sensors. The left eye is the Trigger/Transmitter which sends the pulse of ultrasound forwards. When the ultrasound hits an obstacle it may bounce back and be received by the Echo/Receiver eye.
The sensor is connected via a single pin, 3.3V. So the Trigger and the Echo are on the same pin.
Sensor angle: 15 degrees
Range: 2cm - 450cm
Resolution/Accuracy: 0.3cm
Operation:

  • Output a 10µs (µs = microsecond) High signal to Trigger input to start the detection.

  • Measure the length of pulse received on Echo output to determine distance

  • Distance is pulse time * speed of sound / 2

  • The speed of sound is about 343m/s or 34300cm/s or 0.0343 cm/µs (centimeter per microsecond).

Note

The symbol for microseconds is µs.
This uses the greek letter µ, which represents 1/1000000, one millionth.
For convenience, in the utime library us is used instead of µs.

Warning

Some objects might not be detected by ultrasonic sensors:

  • Some objects are shaped or positioned in such a way that the sound wave bounces off the object away from the Ultrasonic sensor.

  • Some objects are too small to reflect enough of the sound wave back to the sensor to be detected.

  • Some objects can absorb the sound wave all together (cloth, carpet).

7.2. Ultrasound timing

HC_SR04P

7.3. Trigger pulse

An HC-SR04 sensor requires a short 10µs (microseconds) pulse to trigger the sensor to start the ranging program (8 ultrasound bursts at 40 kHz).
To create the trigger pulse, the trigger pin is set high, write_digital(1), for 10us, then it is set low, write_digital(0).
The utime module is used to sleep for 10 microseconds: utime.sleep_us(10).
A module constant, DISTANCE_SENSOR_PIN = pin15, in CAPITALS, can be used to set the pin to be used by the sensor.
import utime

DISTANCE_SENSOR_PIN = pin15

DISTANCE_SENSOR_PIN.write_digital(1)
utime.sleep_us(10)
DISTANCE_SENSOR_PIN.write_digital(0)

Once the wave is returned, after being reflected by an object, the Echo pin goes high for a particular amount of time which will be equal to the time taken for the wave to return back to the sensor.

The first step is to record the last low timestamp for Echo (pulse_start) e.g. just before the return signal is received and the pin goes high. A while loop is used to repetitively update the pulse_start time, while read_digital() == 0, until the read_digital() value is no longer 0. This gives the pulse_start time for when read_digital() changes to 1.

while DISTANCE_SENSOR_PIN.read_digital() == 0:
    pulse_start = utime.ticks_us()

Once a signal is received, the value changes from low (0) to high (1), and the signal will remain high for the duration of the Echo pulse. Then it will go low again.

The second step is to record the last high timestamp for Echo (pulse_end). e.g. just before the return signal is received and the pin goes low. A while loop is used to repetitively update the pulse_end time, while read_digital() == 1, until the read_digital() value is no longer 1. This gives the pulse_end time for when read_digital() changes to 0.

while DISTANCE_SENSOR_PIN.read_digital() == 1:
    pulse_end = utime.ticks_us()

The duration of the pulse is then calculated using pulse_duration = pulse_end - pulse_start.

Since the distance to the object is half of the distance traveled by the pulse to and back from the object, the distance can be calculated using distance = speed x time / 2. The speed is 0.0343 cm/µs. 0.01715 is used instead since 0.0343 / 2 = 0.01715.

pulse_duration = pulse_end - pulse_start
distance = int(0.01715 * pulse_duration)

7.4. class BitBotXLDistanceSensor

The class, class BitBotXLDistanceSensor(), is used for the code related to the ultrasound sensor.
The code is placed in a function, def distance(self) which returns the distance in cm.

The complete code is:

from microbit import *
import utime

DISTANCE_SENSOR_PIN = pin15

class BitBotXLDistanceSensor():

    def distance(self):
        DISTANCE_SENSOR_PIN.write_digital(1)
        utime.sleep_us(10)
        DISTANCE_SENSOR_PIN.write_digital(0)

        while DISTANCE_SENSOR_PIN.read_digital() == 0:
            pulse_start = utime.ticks_us()
        while DISTANCE_SENSOR_PIN.read_digital() == 1:
            pulse_end = utime.ticks_us()

        pulse_duration = pulse_end - pulse_start
        distance = int(0.01715 * pulse_duration)
        return distance

7.5. Set up the distance sensors

class BitBotXLDistanceSensor
Set up the buggy’s distance sensors for use.
Use distance_sensor = BitBotXL.BitBotXLDistanceSensor() to use the buggy’s distance sensors.
The code below imports the BitBotXL module and sets up the distance sensors.
from microbit import *
import BitBotXL


# setup distance_sensor
distance_sensor = BitBotXL.BitBotXLDistanceSensor()

Note that in BitBotXL.BitBotXLDistanceSensor(), BitBotXL is the module and BitBotXLDistanceSensor is the class within it.

7.6. Distance to an object

distance()

Returns the distance, in cm, to an object.

The code below, uses distance_sensor.distance() to display the distance to objects.
from microbit import *
import BitBotXL


distance_sensor = BitBotXL.BitBotXLDistanceSensor()

while True:
    d = distance_sensor.distance()
    display.scroll(d, delay=60)
The code below, using distance_sensor.distance() < 50, measures the distance to objects and if the distance is less than 50cm it spins the buggy to the left for 1 second. The code for the buggy motor functions (move_forwards and spin_from_obstacle) is not included below.
from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

distance_sensor = BitBotXL.BitBotXLDistanceSensor()

while True:
    move_forwards(drive_time=200)
    # check for obstacle and spin
    d = distance_sensor.distance()
    if d < 50:
        while d < 50:
            spin_from_obstacle(spin_time=1000)
            d = distance_sensor.distance()

Tasks

  1. Write code to drive the buggy forwards until it measures an object 30cm in front and then stops.

  2. Write code to drive the buggy forwards until it measures an object 20cm in front and then it stops for 500ms, goes backwards for 500ms, then spins, goes forwards and repeats.