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   1 /*
   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.
   6
   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.
  11
  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/>.
  14  */
  15 int right_echo_pin = 6;
  16 int right_trigger_pin = 7;
  17
  18 int ping_microseconds = 0;
  19 double sound_cm_per_microsecond_at_sea_level = 0.034029;
  20 int count = 0;
  21
  22 void setup(){
  23   Serial.begin(9600);
  24   pinMode(right_echo_pin, INPUT);
  25   pinMode(right_trigger_pin, OUTPUT);}
  26
  27 void loop(){
  28   // make sure trigger pin is off, a.k.a. LOW
  29   digitalWrite(right_trigger_pin, LOW);
  30   delayMicroseconds(2);
  31
  32   // send a 10 microsecond HIGH pulse to the trigger pin
  33   digitalWrite(right_trigger_pin, HIGH);
  34   delayMicroseconds(10); // leave the pin on for 10 microseconds
  35   digitalWrite(right_trigger_pin, LOW);
  36
  37   ping_microseconds = pulseIn(right_echo_pin, HIGH);
  38
  39   // wait for the sonar sensor hardware to recover from pinging
  40   delayMicroseconds(50);
  41
  42   // print out the pulse time
  43   Serial.print(ping_microseconds);
  44   Serial.print(" = ping time (microseconds), ");
  45   Serial.print(ping_microseconds * sound_cm_per_microsecond_at_sea_level / 2);
  46   Serial.print(" = distance (cm). #");
  47   Serial.println(count++);
  48
  49   // wait so it's easier to read the serial monitor.
  50   // change delay to 0 for fullspeed.
  51   //  default is 333, which is about 1/3 of a second
  52   delay(333);}