| I2C SRF10 or SRF08 Devantech Ultrasonic Ranger Finder by Nicholas Zambetti <http://www.zambetti.com> and James Tichenor <http://www.jamestichenor.net> Demonstrates use of the Wire library reading data from the Devantech Utrasonic Rangers SFR08 and SFR10 Created 29 April 2006 Revised 30 August 2007 |

    // I2C SRF10 or SRF08 Devantech Ultrasonic Ranger Finder
    // by Nicholas Zambetti <http://www.zambetti.com>
    // and James Tichenor <http://www.jamestichenor.net>

    #include <TwoWire.h>

    void setup()
    {
      Wire.begin();                // join i2c bus (address optional for master)
      Serial.begin(9600);          // start serial communication at 9600bps
    }

    int reading = 0;

    void loop()
    {
      // step 1: instruct sensor to read echoes
      Wire.beginTransmission(112); // transmit to device #112 (0x70)
                                   // the address specified in the datasheet is 224 (0xE0)
                                   // but i2c adressing uses the high 7 bits so it's 112
      Wire.send(0x00);             // sets register pointer to the command register (0x00)
      Wire.send(0x50);             // command sensor to measure in "inches" (0x50)
                                   // use 0x51 for centimeters
                                   // use 0x52 for ping microseconds
      Wire.endTransmission();      // stop transmitting

      // step 2: wait for readings to happen
      delay(70);                   // datasheet suggests at least 65 milliseconds

      // step 3: instruct sensor to return a particular echo reading
      Wire.beginTransmission(112); // transmit to device #112
      Wire.send(0x02);             // sets register pointer to echo #1 register (0x02)
      Wire.endTransmission();      // stop transmitting

      // step 4: request reading from sensor
      Wire.requestFrom(112, 2);    // request 2 bytes from slave device #112

      // step 5: receive reading from sensor
      if(2 <= Wire.available())    // if two bytes were received
      {
        reading = Wire.receive();  // receive high byte (overwrites previous reading)
        reading = reading << 8;    // shift high byte to be high 8 bits
        reading |= Wire.receive(); // receive low byte as lower 8 bits
        Serial.println(reading);   // print the reading
      }

      delay(250);                  // wait a bit since people have to read the output :)
    }

    /*

    // The following code changes the address of a Devantech Ultrasonic Range Finder (SRF10 or SRF08)
    // usage: changeAddress(0x70, 0xE6);

    void changeAddress(byte oldAddress, byte newAddress)
    {
      Wire.beginTransmission(oldAddress);
      Wire.send(0x00);
      Wire.send(0xA0);
      Wire.endTransmission();

      Wire.beginTransmission(oldAddress);
      Wire.send(0x00);
      Wire.send(0xAA);
      Wire.endTransmission();

      Wire.beginTransmission(oldAddress);
      Wire.send(0x00);
      Wire.send(0xA5);
      Wire.endTransmission();

      Wire.beginTransmission(oldAddress);
      Wire.send(0x00);
      Wire.send(newAddress);
      Wire.endTransmission();
    }

    */

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