Arduino Basics - HC-SR04 Ultrasonic Sensor

1/4/2015
ArduinoBasics:HCSR04UltrasonicSensor
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11November2012
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Introduction:
The HCSR04 Ultrasonic Sensor is a very affordable proximity/distance sensor that has been used mainly
forobjectavoidanceinvariousroboticsprojects.ItessentiallygivesyourArduinoeyes/spacialawareness
andcanpreventyourrobotfromcrashingorfallingoffatable.Ithasalsobeenusedinturretapplications,
waterlevelsensing,andevenasaparkingsensor.ThissimpleprojectwillusetheHCSR04sensorwithan
ArduinoandaProcessingsketchtoprovideaneatlittleinteractivedisplayonyourcomputerscreen.
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PartsRequired:
FreetronicsElevenoranycompatibleArduino.
MiniBreadboard4.5cmx3.5cm
Protoshieldandfemaleheaderpins(notessentialbutmakesitmoretidy)
Wirestoconnectitalltogether
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BlogArchive
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HCSR04
Ultrasonic
Sensor
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TotalPageviews
1,116,613
TheabovesketchwascreatedusingFritzing.
ArduinoCode:
YoucandownloadtheArduinoIDEfromthissite.
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/*
HCSR04Pingdistancesensor:
VCCtoarduino5v
GNDtoarduinoGND
EchotoArduinopin7
TrigtoArduinopin8
ThissketchoriginatesfromVirtualmix:http://goo.gl/kJ8Gl
HasbeenmodifiedbyWinkleinkhere:http://winkleink.blogspot.com.au/2012/05/arduinohcsr04ultrasonicdistance.html
AndmodifiedfurtherbyScottChere:http://arduinobasics.blogspot.com.au/2012/11/arduinobasicshcsr04ultrasonicsensor.html
on10Nov2012.
*/
#defineechoPin7//EchoPin
#definetrigPin8//TriggerPin
#defineLEDPin13//OnboardLED
intmaximumRange=200;//Maximumrangeneeded
intminimumRange=0;//Minimumrangeneeded
longduration,distance;//Durationusedtocalculatedistance
voidsetup(){
Serial.begin(9600);
pinMode(trigPin,OUTPUT);
pinMode(echoPin,INPUT);
pinMode(LEDPin,OUTPUT);//UseLEDindicator(ifrequired)
}
voidloop(){
/*ThefollowingtrigPin/echoPincycleisusedtodeterminethe
distanceofthenearestobjectbybouncingsoundwavesoffofit.*/
digitalWrite(trigPin,LOW);
delayMicroseconds(2);
digitalWrite(trigPin,HIGH);
delayMicroseconds(10);
digitalWrite(trigPin,LOW);
duration=pulseIn(echoPin,HIGH);
//Calculatethedistance(incm)basedonthespeedofsound.
distance=duration/58.2;
if(distance>=maximumRange||distance<=minimumRange){
/*SendanegativenumbertocomputerandTurnLEDON
toindicate"outofrange"*/
Serial.println("1");
digitalWrite(LEDPin,HIGH);
}
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else{
/*SendthedistancetothecomputerusingSerialprotocol,and
turnLEDOFFtoindicatesuccessfulreading.*/
Serial.println(distance);
digitalWrite(LEDPin,LOW);
}
//Delay50msbeforenextreading.
delay(50);
}
Thecodeabovewasformattedusinghilite.me
ProcessingCode:
YoucandownloadtheProcessingIDEfromthissite.
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/*ThefollowingProcessingSketchwascreatedbyScottCon
the10Nov2012:http://arduinobasics.blogspot.com/
InspiredbythisProcessingsketchbyDanielShiffman:
http://processing.org/learning/basics/sinewave.html
*/
importprocessing.serial.*;
intnumOfShapes=60;//Numberofsquarestodisplayonscreen
intshapeSpeed=2;//Speedatwhichtheshapesmovetonewposition
//2=Fastest,Largernumbersareslower
//GlobalVariables
Square[]mySquares=newSquare[numOfShapes];
intshapeSize,distance;
StringcomPortString;
SerialmyPort;
/*Setup*/
voidsetup(){
size(displayWidth,displayHeight);//Useentirescreensize.
smooth();//drawsallshapeswithsmoothedges.
/*CalculatethesizeofthesquaresandinitialisetheSquaresarray*/
shapeSize=(width/numOfShapes);
for(inti=0;i<numOfShapes;i++){
mySquares[i]=newSquare(int(shapeSize*i),height40);
}
/*OpentheserialportforcommunicationwiththeArduino
MakesuretheCOMportiscorrectIamusingCOMport8*/
myPort=newSerial(this,"COM8",9600);
myPort.bufferUntil('\n');//TriggeraSerialEventonnewline
}
/*Draw*/
voiddraw(){
background(0);//MakethebackgroundBLACK
delay(50);//Delayusedtorefreshscreen
drawSquares();//Drawthepatternofsquares
}
/*serialEvent*/
voidserialEvent(SerialcPort){
comPortString=cPort.readStringUntil('\n');
if(comPortString!=null){
comPortString=trim(comPortString);
/*UsethedistancereceivedbytheArduinotomodifytheyposition
ofthefirstsquare(otherswillfollow).Shouldmatchthe
codesettingsontheArduino.Inthiscase200isthemaximum
distanceexpected.Thedistanceisthenmappedtoavalue
between1andtheheightofyourscreen*/
distance=int(map(Integer.parseInt(comPortString),1,200,1,height));
if(distance<0){
/*Ifcomputerreceivesanegativenumber(1),thenthe
sensorisreportingan"outofrange"error.Convertall
ofthesetoadistanceof0.*/
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distance=0;
}
}
}
/*drawSquares*/
voiddrawSquares(){
intoldY,newY,targetY,redVal,blueVal;
/*SettheYpositionofthe1stsquarebasedon
sensorvaluereceived*/
mySquares[0].setY((heightshapeSize)distance);
/*Updatethepositionandcolourofeachofthesquares*/
for(inti=numOfShapes1;i>0;i){
/*Usetheprevioussquare'spositionasatarget*/
targetY=mySquares[i1].getY();
oldY=mySquares[i].getY();
if(abs(oldYtargetY)<2){
newY=targetY;//Thishelpstolinethemup
}else{
//calculatethenewpositionofthesquare
newY=oldY((oldYtargetY)/shapeSpeed);
}
//Setthenewpositionofthesquare
mySquares[i].setY(newY);
/*Calculatethecolourofthesquarebasedonits
positiononthescreen*/
blueVal=int(map(newY,0,height,0,255));
redVal=255blueVal;
fill(redVal,0,blueVal);
/*Drawthesquareonthescreen*/
rect(mySquares[i].getX(),mySquares[i].getY(),shapeSize,shapeSize);
}
}
/*sketchFullScreen*/
//ThisputsprocessingintoFullScreenMode
booleansketchFullScreen(){
returntrue;
}
/*CLASS:Square*/
classSquare{
intxPosition,yPosition;
Square(intxPos,intyPos){
xPosition=xPos;
yPosition=yPos;
}
intgetX(){
returnxPosition;
}
intgetY(){
returnyPosition;
}
voidsetY(intyPos){
yPosition=yPos;
}
}
Thecodeabovewasformattedusinghilite.me
Ifyoulikethispage,pleasedomeafavourandshowyourappreciation:
16
4/13
1/4/2015
Havealookatmypatreonpage.
VisitmyArduinoBasicsGoogle+page.
FollowmeonTwitterbylookingforScottC@ArduinoBasics.
HavealookatmyvideosonmyYouTubechannel.
However,ifyoudonothaveagoogleprofile...
Feelfreetosharethispagewithyourfriendsinanywayyouseefit.
PostedbyScottCat22:47
+16 Recommend this on Google
Labels:Arduino,ArduinoBasics,code,HCSR04,Processing,rangesensor,Serial,Ultrasonic
57comments:
JeffBowen 29November2012at13:11
Cool.Igotitworkingandit'sprettyneat.GonnatossaroundsomeideasinmyheadofwhatIcando
withit.
Thanks.
Reply
Replies
ScottC 29November2012at22:46
Iwouldbeinterestedtoknowwhatyoucomeupwith:)
Reply
justinfriedman 11March2013at07:13
Myprocessingscreenisallblack,igetdistancereadingsinthearduinoIDE.whyisthis?
Reply
Replies
ScottC
11March2013at15:53
Make sure that you close the Serial Monitor on the Arduino IDE before running the
processingsketch.
Reply
Bes 20May2013at23:07
Coolproject!
Wherehaveyoudownloadedthefritzingpartfortheultrasonicsensor?
5/13
1/4/2015
Reply
Replies
ScottC
21May2013at07:10
IamprettysurefromtheFritzingwebsite.FrommemoryIthinktheyhadaforumwhere
peoplecouldcontributeFritzingparts.HavenotbeentothatsiteforawhilebutIampretty
sure that's where I got it from. However Fritzing has been through some major changes
sincethen.
ScottC
21May2013at08:28
Hereisthedownloadlinkasofthe21stMay2013:
DOWNLOADHERE
OralternativelyvisitthepageyourselfandsearchforHCSR04:
FritzingcustompartsWebpage
Reply
Danzl 5June2013at00:50
Beginnerhere,Ihavea64bitsystemthereforeIdownloadedthe64bitversionofProcessing,but
when I try to run this example appears "serial is only compatible with the 32bit download of
Processing"
Anyhelp?Thanks
Reply
Replies
ScottC
5June2013at07:02
HiDanzl,
I think I fell for the same trap. I had to resort to downloading the 32bit version instead,
becausethe64bitversiondoesnotsupportSerial.
Scott
Danzl 17June2013at14:59
Thankyouverymuchfortakingthetimetohelpme,...andImsorryfortakingsolongin
answer back. At the moment I was hurry trying to finishing a little project, and I have
anotherChromebookwithUbuntu12.04installed,Icheckthereifwasworkinganditdoes
soIjustfinishitandforgetitforaboutaweek.NowinvacationImcheckingsomeother
projecttolearnsomethingelsefromyourpage.Thanksagainforallyouramazingwork.
Reply
AkshayKhatri 8June2013at03:26
echopinwillbehighonceitreceivesbackthesignal.thereforepulsein(echopin,HIGH)willgivethe
duration for which the echopin receives the signal..it will not give the total time for the signal.. but
onlythetimeforwhichtheechosensorreceivesit..
Reply
Replies
ScottC
8June2013at08:16
Iamnotsurewhatyoumean.Canyoupleaseexplainfurther.ThanksScott
Anonymous 2September2013at20:47
Iamalsoconfusedaboutthesamething.pulseInreadsthelengthoftimewhereechoPin
receivesthesignal,butshouldn'titreadthetimebetweensendingthepulseandreceiving
it with echoPin? In other words woudn't it make more sense to set duration =
pulseIn(echoPin,LOW)?
6/13
1/4/2015
Steve 4January2014at01:31
HeyScott,
IthinkI'mconfusedaboutthesamethinghere(I'mabeginnersoI'mconfusedalot).
digitalWrite(trigPin,LOW)
delayMicroseconds(2)
digitalWrite(trigPin,HIGH)
delayMicroseconds(10)
digitalWrite(trigPin,LOW)
duration=pulseIn(echoPin,HIGH)
distance=duration/58.2
FromwhatIsee,yousendapulsethatis10microsecondslongandthenusePulseInto
readthelengthofthatpulseagain?Shouldn'titbeusingLOWinsteadofHIGHtoreadthe
time it takes before receiving the pulse? Maybe I don't understand the PulseIn function
wellenoughorIdon'tunderstandthesensor(haven'treceivedmineyet).
Thanks,Steve
ScottC
4January2014at03:15
HISteve,
AllexamplesthatIhaveseenonthenetseemtohaveitsetthisway.
I am pretty sure the digitalWrites are there to initialise the sensor, and then the pulseIn
measuresthepulse.IhavereadthatbysettingpulseIntoHigh,thatthesensorwillpulse:
LOW_HIGH_LOW...
You can try setting it to LOW and see what happens... but I have not seen it setup that
way.
Ifyoudodecidetodoitthatwaythenpleaseletmeknowhowyougo.
Regards
Scott
Steve 4January2014at04:38
ThanksScott,Iwilltestthiswhenmysensorarrives.
Reply
MandakhOyunerdene 2September2013at17:02
HelloScott.Iwouldliketoasksomething.Iamnewtoarduino.Iwannadoaprojectthatisapower
linedetection.So,canthisHCSR04sensordetectthedistanceoftightsurfacelikeafinger?Have
youtrytodistancemeasureoftightsurface?Thankyou.
Md
Reply
Replies
ScottC
16October2013at21:38
ifitcanbouncesoundwaves,thenitwillwork.
Reply
DanSchiffer 6October2013at03:36
NewtoArduinoIDE.Icouldn'tgetanycommunicationfromArduinoMega2560toProcessingPDE
onmyMac.Icouldn'tfigureoutwhichserialcomporttouse,soIchangedthispieceofcode
myPort=newSerial(this,"COM8",9600)
myPort.bufferUntil('\n')//TriggeraSerialEventonnewline
}
7/13
1/4/2015
tothis
myPort=newSerial(this,Serial.list()[0],9600)
myPort.bufferUntil('\n')//TriggeraSerialEventonnewline
}
Now it works fine. I used Daniel Schiffman's sketch Example 198: Reading From Serial Port as a
basis for making this change. On my Mac /dev/tty.usbmodemfaXXX is the port used for
communicationwithArduinoandProcessing.Howeverobvious,Ididnotrealizeitwas[0].
HowcanIdeterminetheactualportnumber?
Thanksforthesketch!
Reply
Replies
ScottC
16October2013at21:40
IknownothingaboutmacsbutIwouldsayyoucouldhavealookattheportbeingused
bytheArduinoIDE(normallydisplayedatthebottomoftheArduinoIDE)
Reply
Anonymous 21October2013at14:39
ThatsAwesomemen,thankforsharethis!
Reply
snowwiteandthe7monkeys 11November2013at00:15
perrrrrrrrrrrrrrrrrrrrrrrrrfecto!wellasidosaysomyselfthisreallyhelpedexceptijusthadtomakea
weensychangefromthediagramwithtonsofresearch:)
Reply
Anonymous 23November2013at21:03
Iffoundanerror..
Change:comPortString=cPort.readStringUntil('\n')
TocomPortString=(newString(cPort.readBytesUntil('\n')))
Reply
Replies
Anonymous 24November2013at23:51
thankyounowitisworking.
Reply
HASHBROWN:D 12December2013at09:50
Heythankyousomuchforthediagramandcode.Thecodehelpedmealot,sinceI'mabeginner
andIcan'twritecodesyet,althoughIhavestartedtocopyandpastefromdifferentcodesintoone
codeformyownrobot(anditworked:D).SinceIhavethekindofbreadboardthathasnegativesand
positives,Ihadtobringthewiresfromthe5VandGNDintotheand+.Butthesensorisawesome,
thankyousomuch!
Reply
Replies
Anonymous 12December2013at09:52
yea,hashbrown'sright.thnxalotscott!
ScottC
12December2013at19:10
That'sgreathashbrown,andyouarewelcomeanonymous.
Feelfreetopostalinktoyourprojectorshareavideoofyourrobotinaction.
8/13
1/4/2015
Reply
WilliamMakinen 6January2014at02:08
WhenItrytoruntheprocessingsketch,anerrorcomesupsayingthefunctionreadStringUntil(char)
does not exist. When that happens, this line of code is highlighted comPortString =
cPort.readStringUntil('\n')
I'mabeginner,andwouldappreciatethehelp
Reply
Replies
ScottC
6January2014at07:18
ThisisaproblemwiththenewversionofProcessing:
Change:comPortString=cPort.readStringUntil('\n')
To:comPortString=(newString(cPort.readBytesUntil('\n')))
Reply
Anonymous 14January2014at02:44
ididwhatyouexplainnedinthepicturteshouldicopythecodeonthearduinoprogrambytheword
ori'mgoingtotakeoffsomethings
Reply
Replies
ScottC
14January2014at08:15
If you plan to run this complete project. You can copy and paste the arduino sketch and
uploadittothearduino.Andthencopyandpastetheprocessingsketchtotheprocessing
IDE, and run it. However you may need to modify the com port based on you specific
setupandoperatingsystem.
Reply
balkanskikanali 30January2014at19:57
OnequestionaboutthecubesScott,whichpartneedstobechangedsowhentheapplicationstarts
cubesareupandwithgoingfarfromsensortheycomedown?
Thanks...youarethebest
Reply
Replies
ScottC
31January2014at17:53
Icannotrememberifthisworksornotbutfeelfreetotry
changethis:
distance=int(map(Integer.parseInt(comPortString),1,200,1,height))
to
distance=int(map(Integer.parseInt(comPortString),1,200,height,1))
Reply
Anonymous 13February2014at10:16
hi can anyone help me? i got a problem running the code its say that
>processing.app.SerialNotFoundException: Serial port 'COM1' not found. Did you select the right
onefromtheTools>SerialPortmenu?
pleasehelpme,thanks!
Reply
Replies
ScottC
13February2014at14:49
9/13
1/4/2015
Make sure to connect and upload the Arduino Sketch to the Arduino before running the
Processingsketch.MakenoteofwhichcomportyouareusingforyourArduino.Lookat
thebottomrighthandsideoftheArduinoIDE(afterupload).
Also make sure to close the Arduino IDE Serial Monitor before running the Processing
sketch.
thanks Scott i solve the problem, but i have another problem here > avrdude:
stk500_getsync():notinsync:resp=0x00
canuhelpmeagain?thanksinadvance!
ScottC
WhatArduinoboardareyouusing?HaveyouselectedthisboardintheArduinoIDE?
AndhaveyouconfirmedyouareusingthecorrectCOMport?
Reply
IsthereanycodingsforcrackdetectioninaplainsurfaceusingUlrasonicsensor??..
Reply
Replies
ScottC
notonthisblogbutsomeonesurelyhasdonethissomewhereontheinternet
Reply
israalobedy 15April2014at01:34
Hiii
Please if I have parallax ping ultrasonic sensor how I connected it with arduino and how
programmingittosenddatathroughxbeesheildandmodule?.
Ihopetohelpme....
Reply
Replies
ScottC
16April2014at08:22
Idon'thaveaparallaxpingultrasonicsensorbutthissitemayhelp.
AsforXBeecommunicationIhaveanpartiallycompletedtutorialwhichmayhelpyouto
getstarted,buttherearemanytutorialsoutthereontheinternetthatshowyouhowtodo
this.
Trytodoeachoftheseseparatelybeforetryingtojoinorcombinethem.
Reply
TheBunny 2May2014at08:28
thesecondblockofcodethrowssomanyerrors.thefirstoneisok.howdoiknowifitworked???
Reply
Replies
ScottC
2May2014at13:19
Dunno!
Vaguequestion,vagueresponse.Needtobeabitmorespecific.
ActuallyIhadwhitescreenanditwasatcom8andiusecom3.Iamnoob...um,nowithas
blackscreenwithblueboxesatthebottombutnothingmoves...whenihovermyhand.:/
whatmayidowrong?:/thankss
10/13
1/4/2015
Actually,
I think that my sensor is broken. The above is not working...it keeps returning 1 at my
serialmonitor.
ScottC
3May2014at09:23
Okseemslikeyouworkedthroughmostofyourproblems.
Just make sure that you use the 32 bit version of Processing IDE because 64bit version
doesnotsupportSerial.
Your sensor keeps returning 1 because it is calculating a distance that exceeds the
maximumorminimumranges.Trytoextendtheserangesifpossibletoseetherawvalues
comingthrough,orjustprinttherawvalueinstead.
Usingtheserialmonitorisagoodwaytocheckthefunctionalityofthesensor.Onceyou
findvaluescomingthrough,thenusetheProcessingIDE,butyoucannothavetheSerial
monitoropenwhenyouruntheProcessingsketchbecauseitwillcreateerrors.
Reply
Doineedanyextralib?:/Ireadsomewherethatineedtodownloadsomemorelibtowork...
Reply
Replies
ScottC
10May2014at22:43
Notwiththissensor
Reply
PrasadPendke 22May2014at13:36
Thiscommenthasbeenremovedbyablogadministrator.
Reply
Replies
ScottC
26May2014at10:07
HiPrasad,
Youwillneedtoaskthatquestioninaforum.
Sorry.
Scott
Reply
Anonymous 29May2014at13:46
HiScott,greatguide.Ijustwantedtoknowwhereyougotthevalue58.2fromintheline:
distance=duration/58.2
Doyoumindexplainingthederivationaswellplease?
Reply
Replies
ScottC
11June2014at00:37
duration=pulseIn(echoPin,HIGH)
durationistheamountoftimetakenforthesoundtotravelfromthemoduletotheobject
andbackinmicroseconds.
Soundtravelsat340m/sec.
or34000cm/sec
11/13
1/4/2015
or340cm/millisecond
or0.034cm/microsecond
Soyoucanmultiplyduration(inmicroseconds)by0.034andthenhalveittogetdistance,
ordividedurationby29.4andthenhalveittogetdistance.
(duration/29.4)/2=duration/58.8
SohowdidIget58.2?
Iusedsomeoneelse'scalculationforthespeedofsound,andassumedthatthenumber
of29.1wascorrectandmultiplieditby2toget58.2.Sothereyougoyoucanchange
thatnumberto58.8.
Didthathelp??
Anonymous 1July2014at00:53
What if you wanted inches, ft, or meters? Would you just have to change that "58.2" to
somethingelse?Because,asIlookatitrightnow,that"58.2"willgiveyoucm,socanyou
inputanothernumbertogiveyouanotherunitofdistance?
ScottC
1July2014at07:01
Correct
Reply
ScottC
19August2014at10:54
DearAnonymous:
Thanksforyourquestion.IhavedeletedyourquerybecauseIthinkyouwouldhavebettersuccess
inaforum.
ArduinoForum
ProcessingForum
WhileIwouldlovetoworkthroughtheproblemsinyourparticularproject,Ijustdon'thavethetime.
Ihardlyhavethetimetoworkthroughtheproblemsinmyown:)
Reply
EmilMashiah 30December2014at23:39
HiScott,reallygreatjob.Iwouldbegladtoseeotheryouprojects.
Keepthegoodwork.
Reply
Replies
ScottC
31December2014at09:57
ThanksEmil.
Feelfreetolookattheprojectspageithasalistofmyotherprojects
Regards
ScottC
Reply
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