Just another program for my bot: 4 Ping sensors with Buzzer alarm (updated)

Projects Programming
8

Been messing around a bit more with the (4X Ping) code. Unfortunately something isn't cooperating :confused:
Atm, getting (0in, 0in, 0in, 0in) in serial monitor...and the scrolling/updating is a bit slow.

// 4 Ping sensor code for left, right, rear & head ping sensors mounted on robot.
// Using Arduino Mega 2560 & IDE 1.0.1
//
// 10June12

#define LT_PING 20
#define RT_PING 21
#define RR_PING 22
#define HD_PING 23
long in1 = 0;
long in2 = 0;
long in3 = 0;
long in4 = 0;
//const int buzzPin = 4;

void setup()
{
  Serial.begin(9600);
  //pinMode(buzzPin, OUTPUT);
}

long ping(int pin)
{
  pinMode(pin, OUTPUT);
  digitalWrite(pin, LOW);
  delayMicroseconds(2);
  digitalWrite(pin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pin, LOW);
  pinMode(pin, INPUT);
  
long duration = pulseIn(pin, HIGH);
  
  return (microsecondsToInches(duration));
}

long microsecondsToInches(long microseconds)
{
  return microseconds / 74 / 2;
}

void loop()
{
  in1 = ping(LT_PING);
  delay(5);
  in2 = ping(RT_PING);
  delay(5);
  in3 = ping(RR_PING);
  delay(5);
  in4 = ping(HD_PING);
  delay(5);
  
  Serial.print(in1);
  Serial.print("in, ");
  Serial.print(in2);
  Serial.print("in, ");
  Serial.print(in3);
  Serial.print("in, ");
  Serial.print(in4);
  Serial.print("in, ");
  Serial.println();
    
}

// Use buzzer, main motors to react to different Ping threshold distances

  //digitalWrite(buzzPin, LOW);    
  //if(in1 < 24) digitalWrite(buzzPin, HIGH);    // sets a min. threshold value of 24" to sound alarm for Left Ping sensor
  //if(in2 < 24) digitalWrite(buzzPin, HIGH);    // sets a min. threshold value of 24" to sound alarm for Right Ping sensor
  //if(in3 < 18) digitalWrite(buzzPin, HIGH);    // sets a min. threshold value of 18" to sound alarm for Rear Ping sensor
  //if(in4 < 60) digitalWrite(buzzPin, HIGH);    // sets a min. threshold value of 60" to sound alarm for Head Ping sensor

thomas