PBP projects for R/C models

[cncmachineguy]

Thats an easy one Ken sinec your result is measured in 10uS steps, according to the spec for your sonar, "If the pulse is measured in uS, then divide by 148 to get inches". So all you have to do is inchesright = rangeright/148. And inchesfront = rangefront/148.

Now I am not sure you really need to convert it in your program. You could just look at the range results and use a calc so you can get a feel for it. your car won't care about the units.

EDIT: heres what keeps haunting me. lets assume most of the time the front is >33.783 inches (5ms pulse divided by 148). that means your interupt will retrigger while in the interupt. Maybe thats ok, as long as you have stack space for all the saves and returns. Also, the reason for changing the servo pulses to interupt drivin from HPWM was to be able to more properly command the servos.