+
+int distanceMonitor() {
+ digitalWrite(trig, LOW); // Prepare for ping
+ delayMicroseconds(2); //
+ digitalWrite(trig, HIGH); // Send a ping
+ delayMicroseconds(10); //
+ digitalWrite(trig, LOW); // Set down ping
+ duration = pulseIn(echo, HIGH);
+ //distance = (duration / 2) / 29.1; // Speed is ~300m/s,
+ // so it takes ~29.1 milliseconds for a cm.
+ distance = (duration / 58.2); // Atmegas are not found of divisions
+ // Distance is half of (out + back)
+
+ return distance;
+}