Try :
const float speedOfSound = 343.0 / 1000.0; // Convert to m/us
which is more accurate.
And replace long duration with this :
long duration = pulseIn(echoPin, HIGH, 26000); // Adjust this timeout if needed
if (duration > 0) {
// Calculate distance in meters
float distance = duration * speedOfSound / 2.0;
result = static_cast<long>(distance * 100); // Convert to cm
The chip on the Due has some special hardware for reading encoders (does it in hardware without needing an interrupt for each step), but I don't know if there is an Arduino Library that would make this easy to use.
you could throw a 2nd Arduino at the problem - one to deal with the motors, one to deal with the ultrasonics. you probably don't need all 30k steps per revolution; the encoder task could "concentrate" that, either just only forwarding some pulses, or sending less frequent messages that say "the encoder moved 22 ticks."
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