声纳用于机器人导航问题

嘿，大家好，
在我大学的高级设计项目中，我的小组被指派了一个机器人，作为一个校园漫游信息亭。我负责传感器集成。我们组决定使用的声纳可以输出对应于检测到的范围的模拟电压电平或其宽度对应于检测到的范围的脉冲。为了得到PSoC 3的句柄，我创建了一个快速概念验证程序，它将模拟VoLTLE级别并将其转换为数字值。为了测试它，我在PSoC 3上安装了一个电源，把它接到电源上，这样我就可以很容易地精确地改变电压。问题是，无论我把电压电平改变为什么，GETREST总是返回十六进制中大约22000或0x5850的值。
到目前为止，在我的故障排除工作中，我假设，从与类似项目的朋友谈话中，ADC返回一个被缩放的值，使得分辨率匹配可接受的输入电压范围IE -0.14伏范围除以2 ^ 16（16位分辨率）。
附件是我目前的简单项目，
SONAR2.ZIP
2兆字节



     以下为原文
  Hey all,
    For the senior design project at my university, my group was assigned a robot that would serve as a wandering information kiosk for the campus.  I was placed in charge of sensor integration.  The sonars that our group decided to use can output an analog voltage level that corresponds to detected range or a pulse whose width corresponds to the detected range.  To get a handle on the PSoC 3 I created a quick proof of concept program that would take in the analog votlage level and convert it to a digital value.  To test it out I breadboarded the PSoC 3 and hooked it up to a power supply so I could easily and precisely change the voltage.  The problem is that no matter what I change the voltage level to, GetResult always returns a value that is approx 22,000 or 0x5850 in hex.
    So far in my troubleshooting efforts I have assumed, from talking to friends on similar projects, that the ADC returns a value that is scaled so that the resolution matches the acceptable input voltage range IE 0-6.14 volt range divided by 2^16 (16 bits of resolution).  
     
    Attached is my simple project so far,

•   Sonar2.zip 2.0 MB