+/*
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU Affero General Public License as
+ published by the Free Software Foundation, either version 3 of the
+ License, or (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU Affero General Public License for more details.
+
+ You should have received a copy of the GNU Affero General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+int right_echo_pin = 6;
+int right_trigger_pin = 7;
+
+int ping_microseconds = 0;
+double sound_cm_per_microsecond_at_sea_level = 0.034029;
+int count = 0;
+
+void setup(){
+ Serial.begin(9600);
+ pinMode(right_echo_pin, INPUT);
+ pinMode(right_trigger_pin, OUTPUT);}
+
+void loop(){
+ // make sure trigger pin is off, a.k.a. LOW
+ digitalWrite(right_trigger_pin, LOW);
+ delayMicroseconds(2);
+
+ // send a 10 microsecond HIGH pulse to the trigger pin
+ digitalWrite(right_trigger_pin, HIGH);
+ delayMicroseconds(10); // leave the pin on for 10 microseconds
+ digitalWrite(right_trigger_pin, LOW);
+
+ ping_microseconds = pulseIn(right_echo_pin, HIGH);
+
+ // wait for the sonar sensor hardware to recover from pinging
+ delayMicroseconds(50);
+
+ // print out the pulse time
+ Serial.print(ping_microseconds);
+ Serial.print(" = ping time (microseconds), ");
+ Serial.print(ping_microseconds * sound_cm_per_microsecond_at_sea_level / 2);
+ Serial.print(" = distance (cm). #");
+ Serial.println(count++);
+
+ // wait so it's easier to read the serial monitor.
+ // change delay to 0 for fullspeed.
+ // default is 333, which is about 1/3 of a second
+ delay(333);}