It’s working! I have it sampling 10x per second and then I take zones 6,7, 10 and 11 (in the middle) and wire them up to the front 2 RGB LEDs so that they get dim when it senses something close. This will give me a visual indication of what the bot thinks that it sees ahead.
Now that I have my sensor talking to nerves, there are two follow-up items I need to address:
tmf882x project to use circuit_gpio v2+The first project can be all done in software and involves learning fun new things like how to do host-based testing of an I2C interface, but I’ve been programming all week for work. So I’m going to do the obviously wrong thing and start with project 2
The first thing I noticed is that the Trilobot “leans back a little”, so I put it on a flat surface and measured that the front of the trilobot is about 1cm higher than the back. And since I can’t be bothered to look up the trig I learned back in high school, I just drew a quick sketch in onshape and asked it to measure the angle for me.
Then I grabbed the cad model I had previously made of the Trilobot and copied out the “front board” part, removed the holes for the ultrasonic sensor, and added a tilted face with this same angle.
Then I sketched in the mounting holes based on the TMF8821 datasheet that shows the location of the 3 mounting holes, and cut out those holes from the model.
Exported this to 3mf, sliced it and sent it to my 3d printer. We’ll see in 30min if it fits 
