2 ping sensors with ir transmitter

ping_new.ino

#include <NewPing.h>
#include <VirtualWire.h>

#define RF_TX_PIN 9    // Pin 12 is the default sender pin so change it here.


#define SONAR_NUM     2 // Number of sensors.
#define MAX_DISTANCE 500 // Maximum distance (in cm) to ping.
#define PING_INTERVAL 33 // Milliseconds between sensor pings (29ms is about the min to avoid cross-sensor echo).

// Pins
const byte pingPower = 14;
const byte triggerLeft = 7;
const byte echoLeft = 8;

const byte triggerRight = 5;
const byte echoRight = 6;

byte pingPowerState = 1;

unsigned long transmitId = 0;
unsigned long lastTransmit = 0;

unsigned long pingTimer[SONAR_NUM]; // Holds the times when the next ping should happen for each sensor.
unsigned int cm[SONAR_NUM];         // Where the ping distances are stored.
uint8_t currentSensor = 0;          // Keeps track of which sensor is active.
 

 
 
NewPing sonar[SONAR_NUM] = {     // Sensor object array.
  NewPing(triggerLeft, echoLeft, MAX_DISTANCE), // Each sensor's trigger pin, echo pin, and max distance to ping.
  NewPing(triggerRight, echoRight, MAX_DISTANCE),
  
};

// NB: ping returns 0 if transmitting while vw_wait_tx() so don't use it.
void transmit(char *buf) {
  
  // Send multiple times in the hope it gets through.
  //for (byte i=0; i<10; i++) {
    
    vw_send((uint8_t *)buf, strlen(buf));
    //vw_wait_tx(); // Wait until the whole message is gone
    lastTransmit = millis();

  //}
}
 
void setup() {
  Serial.begin(115200);
  
  pinMode(pingPower, OUTPUT);
  
  vw_set_tx_pin(RF_TX_PIN);
    vw_setup(2000);      // Bits per sec
  
  pingTimer[0] = millis() + 75;           // First ping starts at 75ms, gives time for the Arduino to chill before starting.
  for (uint8_t i = 1; i < SONAR_NUM; i++) // Set the starting time for each sensor.
    pingTimer[i] = pingTimer[i - 1] + PING_INTERVAL;
    
    
  // For now turn on power to the ping now.
  // @todo when pir interrupts.
  //digitalWrite(pingPower, HIGH);
}
 
void loop() {
  
  
  
  for (uint8_t i = 0; i < SONAR_NUM; i++) { // Loop through all the sensors.
    if (millis() >= pingTimer[i]) {         // Is it this sensor's time to ping?
      pingTimer[i] += PING_INTERVAL * SONAR_NUM;  // Set next time this sensor will be pinged.
      if (i == 0 && currentSensor == SONAR_NUM - 1) oneSensorCycle(); // Sensor ping cycle complete, do something with the results.
      sonar[currentSensor].timer_stop();          // Make sure previous timer is canceled before starting a new ping (insurance).
      currentSensor = i;                          // Sensor being accessed.
      cm[currentSensor] = 0;                      // Make distance zero in case there's no ping echo for this sensor.
      sonar[currentSensor].ping_timer(echoCheck); // Do the ping (processing continues, interrupt will call echoCheck to look for echo).
    }
  }
  
  // Other code that *DOESN'T* analyze ping results can go here.
  
  if (millis() - lastTransmit > 1000) {
    // Proof of concept to power cycle the pings
    pingPowerState =!pingPowerState;
    digitalWrite(pingPower, pingPowerState);
    
    transmitId++;
    char buf[50];
    sprintf(buf, "id=%lu", transmitId);
    
    transmit(buf); 
  }
  
}

void echoCheck() { // If ping received, set the sensor distance to array.
  if (sonar[currentSensor].check_timer())
    cm[currentSensor] = sonar[currentSensor].ping_result / US_ROUNDTRIP_CM;
}


void oneSensorCycle() { // Sensor ping cycle complete, do something with the results.
  // The following code would be replaced with your code that does something with the ping results.
  
  for (uint8_t i = 0; i < SONAR_NUM; i++) {
    Serial.print(i);
    Serial.print("=");
    Serial.print(cm[i]);
    Serial.print("cm ");
  }
  Serial.println();
  
}