Data Sheet

Sensor Documentation Modern Robotics, Inc.

Version 1.4.3 27

Function

0x00

Sensor Firmware Revision

0x01

Manufacturer Code

0x02

Sensor ID Code

0x03

Not Used

0x04

Sound Level

0x05/0x06

Pitch (lsb/msb)

0x07

Duration

The order if the 4 control bytes, Sound Level, Pitch low, Pitch high and Duration are

arranged such that a signal 4 byte write can be used to initiate a tone.

Sound Level:

Controls the amplitude of the output signal from 0 to 3 where 0 is the quietest and 3 is

the loudest.

Pitch:

Consisting of 2 bytes to make a word, the Pitch controls the frequency of the output in

increments of 1Hz. The frequencies range from 1Hz to 65kHz, although operation over

5kHz is not recommended and may damage the device. The speaker resonates at about

2kHz, so the speaker will sound much louder at this frequency.

Duration:

This controls the duration of the tone in increments of 10mS. The duration of the tone

can range from 10mS – 2.55S. The duration of the tone begins a countdown and will

stop when the counter reaches 0. The duration may be updated at anytime to extend

the length of a tone past 2.55S.