Introduction to Robotics/Printouts/Sound Waves

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Date: 09 / 15 / 2015
Sound Waves

Speed of sound: $D = Ct$; D is the distance, measured in meters.; C is the speed of sound in air, measured in meters per second.; t is the amount of time the wave travels, measured in seconds.; At 72°, sound travels at 344.8m/s.

Convert to Centimeters: We convert to centimeters because they are more useful, and it helps to remove fractions from our calculation.; $D = Ct \times \frac{100cm}{1m} = 100Ct$

For the BoeBot: $D = \frac{100CT}{2}$; Because the sound wave must travel to the object and back.; The BoeBot measures t in "clock cycles", which are each 2μseconds. We must convert the equation to use seconds instead of clock cycles:; $D = \frac{100Ct}{2}\times\frac{2}{1,000,000} = \frac{Ct}{10,000} = 0.03448t$

Fractional Math: The BoeBot can do some limited math with fractions.; The "**" operator is used as follows:; $A**B = A \times \frac{B}{65536}$; We calculate that:; We can use the following code to convert time to distance:; Distance = Conversion ** time

Finding the Conversion Constant: $Conversion = 0.03448 \times 65536 = 2260$

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