BetterBin/HCSR04 Range Testing at main · ShaunR1991/BetterBin · GitHub

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int cm = 0;

int leftLow = 50;
int leftHigh = 70;

int rightLow = 100;
int rightHigh = 110;

int leftLED = 4;
int rightLED = 2;

//Returns the time taken for the echo round trip to use in distance measurements
long readUltrasonicDistance(int triggerPin, int echoPin)
{
  pinMode(triggerPin, OUTPUT);  // Clear the trigger
  digitalWrite(triggerPin, LOW);
  delayMicroseconds(2);
  // Sets the trigger pin to HIGH state for 10 microseconds
  digitalWrite(triggerPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(triggerPin, LOW);
  pinMode(echoPin, INPUT);
  // Reads the echo pin, and returns the sound wave travel time in microseconds
  return pulseIn(echoPin, HIGH);
}

void setup()
{
  Serial.begin(9600);

  pinMode(leftLED, OUTPUT);
  pinMode(rightLED, OUTPUT);
}

void loop()
{
  //Calculate the distance based on the round trip time
  cm = 0.01723 * readUltrasonicDistance(7, 6);

  //Print distance to serial
  Serial.print(cm);
  Serial.println("cm");

  if (cm >= leftLow && cm <= leftHigh)
  {
    digitalWrite(leftLED, HIGH);
    digitalWrite(rightLED, LOW);
  }
  else if (cm >= rightLow && cm <= rightHigh)
  {
    digitalWrite(leftLED, LOW);
    digitalWrite(rightLED, HIGH);
  }
  else
  {
    digitalWrite(leftLED, LOW);
    digitalWrite(rightLED, LOW);
  }
  delay(100); // Wait for 100 millisecond(s)
}