What is the theory of the Ultrasonic sensor for GoPiGo

GoPiGo
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I have the source and Python test code. In order to optimize or troubleshoot any of this, I would like to know exactly what the working theory of the Ultrasonic sensor for the GoPiGo is.

How do you talk to it? How does it work? What timing is required? Are there limitations to the number of bytes that can be sent or received from i2C?

Eventually, I want to run the Ultrasonic Servo demo python code and will incorporate it into my voice-controlled car.

Any insights will be very helpful.

thanks

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Looks like this is the answer -

http://wiki.seeedstudio.com/wiki/Ultra_Sonic_range_measurement_module

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@salvideoguy: you might find this article interesting too

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