2 This program is free software: you can redistribute it and/or modify
3 it under the terms of the GNU Affero General Public License as
4 published by the Free Software Foundation, either version 3 of the
5 License, or (at your option) any later version.
7 This program is distributed in the hope that it will be useful,
8 but WITHOUT ANY WARRANTY; without even the implied warranty of
9 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
10 GNU Affero General Public License for more details.
12 You should have received a copy of the GNU Affero General Public License
13 along with this program. If not, see <http://www.gnu.org/licenses/>.
15 int right_echo_pin
= 6;
16 int right_trigger_pin
= 7;
18 int left_echo_pin
= 11;
19 int left_trigger_pin
= 12;
21 int right_ping_microseconds
= 0;
22 int left_ping_microseconds
= 0;
23 double sound_cm_per_microsecond_at_sea_level
= 0.034029;
27 digitalWrite(pin
, HIGH
);}
30 digitalWrite(pin
, LOW
);}
32 int ping(int trigger
, int echo
){
37 // turn on the trigger and leave it on long enough for the
38 // sonar sensor to notice
40 delayMicroseconds(10);
42 ping_time
= pulseIn(echo
, HIGH
);
45 // sonar needs some time to recover before pinging again,
46 // so make sure it gets enough sleep right here. 50 milliseconds
52 pinMode(right_echo_pin
, INPUT
);
53 pinMode(right_trigger_pin
, OUTPUT
);
54 pinMode(left_echo_pin
, INPUT
);
55 pinMode(left_trigger_pin
, OUTPUT
);}
58 right_ping_microseconds
= ping(right_trigger_pin
, right_echo_pin
);
59 left_ping_microseconds
= ping(left_trigger_pin
, left_echo_pin
);
60 // print out the pulse time
61 Serial
.print(right_ping_microseconds
);
62 Serial
.print(" = right ping microseconds, ");
63 Serial
.print(left_ping_microseconds
);
64 Serial
.print(" = left ping microseconds. #");
65 Serial
.println(count
++);
67 // wait so it's easier to read the serial monitor.
68 // change delay to 0 for fullspeed.
69 // default is 333, which is about 1/3 of a second