Data Sheet

Sensor Documentation Modern Robotics, Inc.

Version 1.4.3 23

Function

0x00

Sensor Firmware Revision

0x01

Manufacturer Code

0x02

Sensor ID Code

0x03

Not Used

0x04

Ultrasonic reading (cm)

0x05

Optical reading

Ultrasonic:

The ultrasonic element works by one of the transducers emitting a sound wave and the

other receiving the sound wave. This reading is accurate between 5cm and

approximately 255cm. Since the value returned is in units of centimeters, the return is

linear.

Optical:

The optical element works by emitting infrared light from on LED and receiving infrared

light to the other LED. The optical value can detect objects within 15cm. As an object

approaches the optical element the returned value will increase at an exponential rate.