Introduction to Robotics/Printouts/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:


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