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Learn how to wire, program and mount the BMT HC-SR04 ultrasonic sensor for robotics. Includes formulas, wiring examples, troubleshooting and South Africa buying notes.
Use a resistor divider or level shifter for 3.3V GPIO; VCC should be 5V.
Distance(cm) = Echo_time(us) * 0.01715 (adjust for temperature).
Stagger sensors to avoid cross-talk and apply filtering for stable reads.
The BMT ultrasonic sensor HC-SR04 is a low-cost, widely used module for short-range distance measurement (roughly 2 cm to 400 cm). In robotics it serves for obstacle detection, simple mapping, parking aids, and height/level sensing. This guide explains wiring, timing, calculations, mounting tips, and South Africa-relevant notes on availability and selection.
| Parameter | Typical Value |
|---|---|
| Supply voltage | 5 V |
| Operating range | 2 cm - 400 cm (practical: 3-320 cm) |
| Measurement resolution | ~3 mm |
| Trigger pulse | 10 us pulse to TRIG |
| Echo output | Pulse width proportional to distance |
Distance is derived from the echo pulse duration. Sound speed in air at 20 degreesC is about 343 m/s; adjust for temperature if precision is required. Use the standard formula below.
Distance (cm) = (Echo time in microseconds) * (Speed of sound in cm/us) / 2
With speed of sound ~0.0343 cm/us at 20 degreesC:
Distance (cm) = Echo_time(us) * 0.01715
Example: 1500 us echo -> 1500 * 0.01715 = 25.7 cm
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The HC-SR04 runs on 5 V logic. Use a logic-level converter or simple resistor divider on the ECHO line when connecting to 3.3 V microcontrollers (ESP32, Raspberry Pi). Do not power the sensor from 3.3 V if the module requires 5 V.
VCC -> 5V GND -> GND TRIG -> Digital pin (e.g., D9) ECHO -> Digital pin (e.g., D10)
Use a simple resistive divider on ECHO: ECHO -> R1 (1k) -> node -> R2 (2k) -> GND. Node connects to Pi GPIO. TRIG can be driven from Pi 3.3 V output; ensure VCC is 5 V and common GND is present.
5V VCC --- HC-SR04 --- GND RPi GND --------------------------- RPi GPIO TRIG -> HC-SR04 TRIG (3.3V drive ok) HC-SR04 ECHO -> resistor divider -> RPi GPIO ECHO
digitalWrite(TRIG, LOW); delayMicroseconds(2);
digitalWrite(TRIG, HIGH); delayMicroseconds(10);
digitalWrite(TRIG, LOW);
long duration = pulseIn(ECHO, HIGH, 25000); // timeout 25 ms
if (duration == 0) { /* no echo */ }
float distance_cm = duration * 0.01715;
Communica stocks ultrasonic modules, related transducers and alternative proximity sensors. In South Africa, expect lead times to vary by brand and pack size; for student projects buy a few spare modules (ZAR estimate: 30-100 each) to allow for mounting mistakes or damaged pins. Check branch stock at the Samrand warehouse or Pretoria/Cape Town branches before planning a lab session.
Example: a line-following robot needs to stop when an obstacle is detected closer than 20 cm. Using the distance formula above, compute the trigger frequency and processing loop to ensure reaction time:
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