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;
24 digitalWrite(pin
, HIGH
);}
27 digitalWrite(pin
, LOW
);}
29 int ping(int trigger
, int echo
){
34 // turn on the trigger and leave it on long enough for the
35 // sonar sensor to notice
37 delayMicroseconds(10);
39 ping_time
= pulseIn(echo
, HIGH
);
42 // sonar needs some time to recover before pinging again,
43 // so make sure it gets enough sleep right here. 50 milliseconds
47 double ping_to_cm(int ping_microseconds
){
48 double sound_cm_per_microsecond_at_sea_level
= 0.034029;
49 return ping_microseconds
* sound_cm_per_microsecond_at_sea_level
/ 2;}
53 pinMode(right_echo_pin
, INPUT
);
54 pinMode(right_trigger_pin
, OUTPUT
);
55 pinMode(left_echo_pin
, INPUT
);
56 pinMode(left_trigger_pin
, OUTPUT
);}
59 int left_ping_microseconds
;
60 int right_ping_microseconds
;
62 double right_distance
;
63 left_ping_microseconds
= ping(left_trigger_pin
, left_echo_pin
);
64 right_ping_microseconds
= ping(right_trigger_pin
, right_echo_pin
);
65 left_distance
= ping_to_cm(left_ping_microseconds
);
66 right_distance
= ping_to_cm(right_ping_microseconds
);
67 // print out the pulse time
68 Serial
.print(left_distance
);
69 Serial
.print(" = left distance (cm), ");
70 Serial
.print(right_distance
);
71 Serial
.print(" = right distance (cm). line #");
72 Serial
.println(count
++);
74 // wait so it's easier to read the serial monitor.
75 // change delay to 0 for fullspeed.
76 // default is 333, which is about 1/3 of a second