Awesome! That's great news. I'm most interested in human detection, but we're definitely on the same page. I have been getting some pretty accurate and precise readings with my maxbotix sensors using the crap (code) that I came up with recently, but there's always room for improvement. It's not in a library, but it works. For my purposes I don't even need to be that accurate, but I need it to be reliable. I have several ultrasonic sensors that I've been messing with, but I always get these stray readings. One or two are fine within a half second, but more than that mucks up my purpose. I will try to implement your library with my sensors (maxbotix) soon, and hopefully get some quality results.