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/>.
16 int right_echo_pin
= 6;
18 int right_trigger_pin
= 7;
21 int left_echo_pin
= 11;
23 int left_trigger_pin
= 12;
28 digitalWrite(pin
, HIGH
);}
31 digitalWrite(pin
, LOW
);}
33 int ping(int trigger
, int echo
){
38 // turn on the trigger and leave it on long enough for the
39 // sonar sensor to notice
41 delayMicroseconds(10);
43 ping_time
= pulseIn(echo
, HIGH
);
46 // sonar needs some time to recover before pinging again,
47 // so make sure it gets enough sleep right here. 50 milliseconds
51 double ping_to_cm(int ping_microseconds
){
52 double sound_cm_per_microsecond_at_sea_level
= 0.034029;
53 return ping_microseconds
* sound_cm_per_microsecond_at_sea_level
/ 2;}
57 pinMode(right_echo_pin
, INPUT
);
58 pinMode(right_trigger_pin
, OUTPUT
);
59 pinMode(left_echo_pin
, INPUT
);
60 pinMode(left_trigger_pin
, OUTPUT
);}
63 int left_ping_microseconds
;
64 int right_ping_microseconds
;
66 double right_distance
;
67 left_ping_microseconds
= ping(left_trigger_pin
, left_echo_pin
);
68 right_ping_microseconds
= ping(right_trigger_pin
, right_echo_pin
);
69 left_distance
= ping_to_cm(left_ping_microseconds
);
70 right_distance
= ping_to_cm(right_ping_microseconds
);
71 // print out the pulse time
72 Serial
.print(left_distance
);
73 Serial
.print(" = left distance (cm), ");
74 Serial
.print(right_distance
);
75 Serial
.print(" = right distance (cm). line #");
76 Serial
.println(count
++);
78 // wait so it's easier to read the serial monitor.
79 // change delay to 0 for fullspeed.
80 // default is 333, which is about 1/3 of a second