{"id":2022,"date":"2026-09-08T10:11:48","date_gmt":"2026-09-08T07:11:48","guid":{"rendered":"https:\/\/sobotz.com\/en\/?p=2022"},"modified":"2026-09-08T10:12:02","modified_gmt":"2026-09-08T07:12:02","slug":"getting-started-with-the-m60f-sensor","status":"publish","type":"post","link":"https:\/\/sobotz.com\/lt\/getting-started-with-the-m60f-sensor\/","title":{"rendered":"Darbo su M60F jutikliu prad\u017eia"},"content":{"rendered":"<p>\u201eM60F\u201c yra kompakti\u0161kas skryd\u017eio laiko atstumo jutiklis, skirtas ma\u017eiems robotams, kuriuose erdv\u0117 ribota, ta\u010diau patikimas atstumo matavimas vis tiek svarbus. Jis gali veikti kaip paprastas skaitmeninis detektorius, PWM atstumo jutiklis arba konfig\u016bruojamas nuoseklusis jutiklis, tod\u0117l tinka viskam \u2013 nuo \u201eMini Sumo\u201c robot\u0173 iki individuali\u0173 automatizavimo projekt\u0173.<\/p>\n<p>Kad s\u0105ranka b\u016bt\u0173 paprastesn\u0117, suk\u016br\u0117me nar\u0161ykl\u0117je veikian\u010di\u0105 konfig\u016bravimo priemon\u0119, leid\u017eian\u010di\u0105 nuskaityti tiesioginius matavimus ir keisti jutiklio nustatymus nera\u0161ant jokio kodo.<\/p>\n<p><strong>Konfig\u016bravimo \u012frankis:<\/strong><br \/>\n<a href=\"https:\/\/sobotz.com\/M60F_Sensor_Tool.html\">https:\/\/sobotz.com\/M60F_Sensor_Tool.html<\/a><\/p>\n<hr \/>\n<h2>Jutiklio prijungimas<\/h2>\n<p>M60F naudoja pusiau dvipus\u0119 UART s\u0105saj\u0105, tod\u0117l j\u016bs\u0173 USB-UART adapterio TX ir RX kontaktus reikia sujungti ir prijungti prie jutiklio. <strong>SIG<\/strong> kai\u0161tis. 2,4k\u201310k \u012ftempimo rezistorius i\u0161 <strong>SIG<\/strong> Taip pat reikalinga maitinimo \u012ftampa.<br \/>\n<img decoding=\"async\" class=\"alignnone wp-image-2023\" src=\"https:\/\/sobotz.com\/wp-content\/uploads\/2026\/09\/sensorconnection-1024x446.png\" alt=\"\" width=\"659\" height=\"287\" srcset=\"https:\/\/sobotz.com\/wp-content\/uploads\/2026\/09\/sensorconnection-1024x446.png 1024w, https:\/\/sobotz.com\/wp-content\/uploads\/2026\/09\/sensorconnection-300x131.png 300w, https:\/\/sobotz.com\/wp-content\/uploads\/2026\/09\/sensorconnection-768x335.png 768w, https:\/\/sobotz.com\/wp-content\/uploads\/2026\/09\/sensorconnection-18x8.png 18w, https:\/\/sobotz.com\/wp-content\/uploads\/2026\/09\/sensorconnection-600x261.png 600w, https:\/\/sobotz.com\/wp-content\/uploads\/2026\/09\/sensorconnection.png 1175w\" sizes=\"(max-width: 659px) 100vw, 659px\" \/><\/p>\n<p>Maitinkite jutikl\u012f i\u0161 <strong>2,8\u20135,5 V<\/strong> ir \u012fsitikinkite, kad adapteris ir jutiklis turi t\u0105 pat\u012f \u012f\u017eeminim\u0105.<\/p>\n<hr \/>\n<h2>\u012ejungiamas nuoseklusis re\u017eimas<\/h2>\n<p>Jei jutiklis \u0161iuo metu veikia skaitmeniniu arba PWM re\u017eimu, prie\u0161 konfig\u016bruojant j\u012f reikia paleisti nuosekliuoju re\u017eimu.<\/p>\n<ol>\n<li>Atjunkite maitinim\u0105.<\/li>\n<li>Trumpas <strong>SIG<\/strong> \u012f <strong>\u012e\u017eeminimas<\/strong>.<\/li>\n<li>Prijunkite maitinim\u0105.<\/li>\n<li>Palaukite bent 50 ms.<\/li>\n<li>Nuimkite trump\u0105j\u012f jungt\u012f.<\/li>\n<\/ol>\n<p>Jutiklis dabar bendraus adresu <strong>9600 baud\u0173<\/strong> su <strong>ID 00<\/strong>. Tai tik laikina \u2013 jutiklis gr\u012f\u017eta \u012f i\u0161saugot\u0105 re\u017eim\u0105 po kito paleidimo i\u0161 naujo.<\/p>\n<hr \/>\n<h2>M60F konfig\u016bravimas<\/h2>\n<p>Prijungus \u012frank\u012f, galite:<\/p>\n<ul>\n<li>Per\u017ei\u016br\u0117ti tiesioginius atstumo matavimus<\/li>\n<li>Pakeiskite i\u0161vesties re\u017eim\u0105 (nuoseklusis, skaitmeninis arba PWM)<\/li>\n<li>Nustatykite jutiklio ID ir duomen\u0173 perdavimo spart\u0105<\/li>\n<li>Minimalaus ir maksimalaus jutimo atstumo reguliavimas<\/li>\n<li>Signalo ir triuk\u0161mo slenks\u010di\u0173 konfig\u016bravimas<\/li>\n<li>I\u0161saugoti nustatymus visam laikui jutiklyje<\/li>\n<\/ul>\n<p>Daugumai robotikos projekt\u0173 vieninteliai reikalingi nustatymai yra i\u0161vesties re\u017eimas ir jutimo diapazonas.<\/p>\n<hr \/>\n<h2>I\u0161saugomi j\u016bs\u0173 nustatymai<\/h2>\n<p>\u012erankyje yra dvi skirtingos ra\u0161ymo parinktys:<\/p>\n<ul>\n<li><strong>Ra\u0161yti \u012f jutikl\u012f<\/strong> Nustatymai pritaikomi i\u0161 karto, bet po maitinimo ciklavimo jie prarandami.<\/li>\n<li><strong>\u012era\u0161yti \u012f atmint\u012f<\/strong> konfig\u016bracij\u0105 saugo visam laikui.<\/li>\n<\/ul>\n<p>Jei baig\u0117te jutiklio derinim\u0105, prie\u0161 atjungdami visada nepamir\u0161kite i\u0161saugoti jo atmintyje.<\/p>\n<hr \/>\n<h2>Skaitmeninis ir PWM re\u017eimai<\/h2>\n<p>M60F ne visada reikia UART jungties.<\/p>\n<p>\u012e <strong>Skaitmeninis re\u017eimas<\/strong>, SIG kai\u0161tis tiesiog i\u0161veda HIGH arba LOW signal\u0105, priklausomai nuo j\u016bs\u0173 sukonfig\u016bruoto aptikimo atstumo.<\/p>\n<p>\u012e <strong>PWM re\u017eimas<\/strong>, jutiklis i\u0161veda standartin\u012f 20 ms PWM signal\u0105, kuriame impulso plotis atitinka i\u0161matuot\u0105 atstum\u0105. Tai leid\u017eia lengvai prijungti tiesiogiai prie daugelio mikrovaldikli\u0173, nenaudojant nuosekliojo ry\u0161io. Atkreipkite d\u0117mes\u012f, kad su Arduino pagrindu sukurtais mikrovaldikliais tai pasiekti sunkiau, nes norint atlikti neblokuojant\u012f PWM rodmen\u012f, reikia pertraukim\u0173, kuri\u0173 standartinis atmega328p turi tik du ir abu yra prijungti prie kontakt\u0173.<\/p>\n<hr \/>\n<h2>Trik\u010di\u0173 \u0161alinimas<\/h2>\n<p>Jei jutiklis nereaguoja:<\/p>\n<ul>\n<li>\u012esitikinkite, kad jis buvo paleistas serijiniu re\u017eimu.<\/li>\n<li>Patikrinkite, ar TX ir RX yra sujungti.<\/li>\n<li>Patikrinkite, ar sumontuotas \u012ftempimo rezistorius.<\/li>\n<li>\u012esitikinkite, kad visi \u012f\u017eeminimai yra prijungti.<\/li>\n<\/ul>\n<p>Jei ry\u0161ys nepatikimas, pridedant <strong>1k\u20132.2k rezistorius<\/strong> USB-UART TX linijoje da\u017enai padeda palaikyti pusdupleksin\u012f ry\u0161\u012f.<\/p>\n<p>Be to, mums nepavyko naudoti \u201eArduino Nano\u201c kaip UART keitiklio, tod\u0117l si\u016blome jutikl\u012f prijungti tiesiai prie UART keitiklio, o ne prie \u201eArduino Nano\u201c su atstatymu, prijungtu prie \u017eem\u0117s.<\/p>\n<hr \/>\n<p>\u201eM60F\u201c buvo sukurtas taip, kad b\u016bt\u0173 lengvai integruojamas, ta\u010diau tuo pa\u010diu metu u\u017etikrinant konkurencingai robotikai reikaling\u0105 lankstum\u0105. Nesvarbu, ar konstruojate \u201eMini Sumo\u201c robot\u0105, ar eksperimentuojate su autonominiais projektais, konfig\u016bravimo \u012frankis leid\u017eia greitai ir paprastai atlikti s\u0105rank\u0105.<\/p>\n<p>I\u0161bandykite \u010dia: <a href=\"https:\/\/sobotz.com\/M60F_Sensor_Tool.html\">https:\/\/sobotz.com\/M60F_Sensor_Tool.html<\/a><\/p>","protected":false},"excerpt":{"rendered":"<p>The M60F is a compact time-of-flight distance sensor designed for small robots where space is limited but reliable distance sensing is still important. It can work as a simple digital detector, a PWM distance sensor, or a configurable serial sensor, making it suitable for everything from Mini Sumo robots to custom automation projects. To make [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":2020,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"iawp_total_views":16,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"categories":[1],"tags":[],"class_list":["post-2022","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-blog"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"https:\/\/sobotz.com\/wp-content\/uploads\/2026\/09\/sensorconfigtool.png","_links":{"self":[{"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/posts\/2022","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/comments?post=2022"}],"version-history":[{"count":1,"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/posts\/2022\/revisions"}],"predecessor-version":[{"id":2024,"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/posts\/2022\/revisions\/2024"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/media\/2020"}],"wp:attachment":[{"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/media?parent=2022"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/categories?post=2022"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/sobotz.com\/lt\/wp-json\/wp\/v2\/tags?post=2022"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}