VEX Sonar - test code

const int Trig_pinRight =  12;   // Triggers Pulse for RIGHT Ultrasonic Sensor
const int Echo_pinRight = 10;     // Recevies Echo for RIGHT Ultrasonic Sensor

long durationRight;            // Time it takes for pulse to bounce back to RIGHT Ultrasonic Sensor

void setup() {

  Serial.begin(9600);           // Set up Serial library at 9600 bps

  Serial.println("Initializing...");  // Print Initializing... to confirm code is working with Serial Library
 
  Serial.println ("Starting");
  // initialize the pulse pin as output:
  pinMode(Trig_pinRight, OUTPUT);     
  // initialize the pulse pin as output:
  pinMode(Echo_pinRight, INPUT);
  // initialize the echo_pin pin as an input:  
}

void loop()
  {                                                          
    // establish variables for duration of the ping, 
  // and the distance result in inches and centimeters:
  long durationRight, inches, cm;
  
    // Pulse and Echo for RIGHT Ultrasonic Sensor ; Process for determining and printing the durations for RIGHT Ultrasonic Sensor
   
    digitalWrite(Trig_pinRight, LOW);    
    delayMicroseconds(2);
    digitalWrite(Trig_pinRight, HIGH);
    delayMicroseconds(5);
    digitalWrite(Trig_pinRight, LOW);
    durationRight = pulseIn(Echo_pinRight,HIGH);
    
    inches = microsecondsToInches(durationRight);
  cm = microsecondsToCentimeters(durationRight);
    
    Serial.print(inches);
  Serial.print("in, ");
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();
    
     delay(100);
 
    
  }
  long microsecondsToInches(long microseconds)
{
  // According to Parallax's datasheet for the PING))), there are
  // 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
  // second).  This gives the distance travelled by the ping, outbound
  // and return, so we divide by 2 to get the distance of the obstacle.
  // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
  return microseconds / 74 / 2;
}

long microsecondsToCentimeters(long microseconds)
{
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the
  // object we take half of the distance travelled.
  return microseconds / 29 / 2;
}