start with left sonar and left motor

[challenge-bot] / build-stages / c_both_sonars / c_both_sonars.ino

diff --git a/build-stages/c_both_sonars/c_both_sonars.ino b/build-stages/c_both_sonars/c_both_sonars.ino
index 2d850ffbbd164acdb1bf54a4f86addfbe77ad76b..931e1b16f0310c8e30ef9a311e91eed5749d0697 100644 (file)
--- a/build-stages/c_both_sonars/c_both_sonars.ino
+++ b/build-stages/c_both_sonars/c_both_sonars.ino
@@ -18,9 +18,6 @@ int right_trigger_pin = 7;
 int left_echo_pin = 11;
 int left_trigger_pin = 12;
 
-int right_ping_microseconds = 0;
-int left_ping_microseconds = 0;
-double sound_cm_per_microsecond_at_sea_level = 0.034029;
 int count = 0;
 
 void on(int pin){
@@ -47,6 +44,12 @@ int ping(int trigger, int echo){
   delay(50);
   return ping_time;}
 
+double ping_to_cm(int ping_microseconds)
+{
+  double sound_cm_per_microsecond_at_sea_level = 0.034029;
+  return ping_microseconds * sound_cm_per_microsecond_at_sea_level / 2;
+}
+
 void setup(){
   Serial.begin(9600);
   pinMode(right_echo_pin, INPUT);
@@ -55,13 +58,19 @@ void setup(){
   pinMode(left_trigger_pin, OUTPUT);}
 
 void loop(){
-  right_ping_microseconds = ping(right_trigger_pin, right_echo_pin);
+  int left_ping_microseconds;
+  int right_ping_microseconds;
+  double left_distance;
+  double right_distance;
   left_ping_microseconds = ping(left_trigger_pin, left_echo_pin);
+  right_ping_microseconds = ping(right_trigger_pin, right_echo_pin);
+  left_distance = ping_to_cm(left_ping_microseconds);
+  right_distance = ping_to_cm(right_ping_microseconds);
   // print out the pulse time
-  Serial.print(right_ping_microseconds);
-  Serial.print(" = right ping microseconds, ");
-  Serial.print(left_ping_microseconds);
-  Serial.print(" = left ping microseconds. #");
+  Serial.print(left_distance);
+  Serial.print(" = left distance (cm), ");
+  Serial.print(right_distance);
+  Serial.print(" = right distance (cm). line #");
   Serial.println(count++);
 
   // wait so it's easier to read the serial monitor.