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 Web Site: www.parallax.com Office: (916) 624-8333
Forums: forums.parallax.com Fax: (916) 624-8003
Sales: sales@parallax.com Sales: (888) 512-1024
Technical: support@parallax.com Tech Support: (888) 997-8267

PING)))™ Ultrasonic Distance Sensor (#28015)

The Parallax PING))) ultrasonic distance sensor provides precise, non-contact distance measurements
from about 2 cm (0.8 inches) to 3 meters (3.3 yards). It is very easy to connect to microcontrollers such
as the BASIC Stamp®, SX or Propeller chip, requiring only one I/O pin.

The PING))) sensor works by transmitting an ultrasonic (well above human hearing range) burst and
providing an output pulse that corresponds to the time required for the burst echo to return to the
sensor. By measuring the echo pulse width, the distance to target can easily be calculated.

Features Key Specifications

y Range: 2 cm to 3 m (0.8 in to 3.3 yd) y Supply voltage: +5 VDC
y Burst indicator LED shows sensor y Supply current: 30 mA typ; 35 mA max
activity y Communication: Positive TTL pulse
y Bidirectional TTL pulse interface on a y Package: 3-pin SIP, 0.1” spacing
single I/O pin can communicate with 5 V (ground, power, signal)
TTL or 3.3 V CMOS microcontrollers
y Operating temperature: 0 – 70° C.
y Input trigger: positive TTL pulse, 2 µs
y Size: 22 mm H x 46 mm W x 16 mm D
min, 5 µs typ.
(0.84 in x 1.8 in x 0.6 in)
y Echo pulse: positive TTL pulse, 115 µs
y Weight: 9 g (0.32 oz)
minimum to 18.5 ms maximum.
y RoHS Compliant

Pin Definitions
GND Ground (Vss)
5V 5 VDC (Vdd)
SIG Signal (I/O pin)

The PING))) sensor has a male 3-pin header used to supply

ground, power (+5 VDC) and signal. The header may be plugged
into a directly into solderless breadboard, or into a standard 3-
wire extension cable (Parallax part #805-000012).

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 1 of 12
Dimensions

Communication Protocol
The PING))) sensor detects objects by emitting a short ultrasonic burst and then "listening" for the echo.
Under control of a host microcontroller (trigger pulse), the sensor emits a short 40 kHz (ultrasonic) burst.
This burst travels through the air, hits an object and then bounces back to the sensor. The PING)))
sensor provides an output pulse to the host that will terminate when the echo is detected, hence the
width of this pulse corresponds to the distance to the target.

Host Device Input Trigger Pulse tOUT 2 µs (min), 5 µs typical

PING))) Echo Holdoff tHOLDOFF 750 µs
Sensor Burst Frequency tBURST 200 µs @ 40 kHz
Echo Return Pulse Minimum tIN-MIN 115 µs
Echo Return Pulse Maximum tIN-MAX 18.5 ms
Delay before next measurement 200 µs

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 2 of 12
Practical Considerations for Use
Object Positioning
The PING))) sensor cannot accurately measure the distance to an object that: a) is more than 3 meters
away, b) that has its reflective surface at a shallow angle so that sound will not be reflected back towards
the sensor, or c) is too small to reflect enough sound back to the sensor. In addition, if your PING)))
sensor is mounted low on your device, you may detect sound reflecting off of the floor.

a. b. c.

Target Object Material

In addition, objects that absorb sound or have a soft or irregular surface, such as a stuffed animal, may
not reflect enough sound to be detected accurately. The PING))) sensor will detect the surface of water,
however it is not rated for outdoor use or continual use in a wet environment. Condensation on its
transducers may affect performance and lifespan of the device. See the “Water Level with PING)))”
document on the 28015 product page at www.parallax.com for more information.

Air Temperature
Temperature has an effect on the speed of sound in air that is measurable by the PING))) sensor. If the
temperature (°C) is known, the formula is:

Cair = 331.5 + (0.6 × TC ) m/s

The percent error over the sensor’s operating range of 0 to 70 ° C is significant, in the magnitude of 11
to 12 percent. The use of conversion constants to account for air temperature may be incorporated into
your program (as is the case in the example BS2 program given in the Example Programs section below).
Percent error and conversion constant calculations are introduced in Chapter 2 of Smart Sensors and
Applications, a Stamps in Class text available for download from the 28029 product page at
www.parallax.com.

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 3 of 12
Test Data
The test data on the following pages is based on the PING))) sensor, tested in the Parallax lab, while
connected to a BASIC Stamp microcontroller module. The test surface was a linoleum floor, so the
sensor was elevated to minimize floor reflections in the data. All tests were conducted at room
temperature, indoors, in a protected environment. The target was always centered at the same elevation
as the PING))) sensor.

Test 1
Sensor Elevation: 40 in. (101.6 cm)
Target: 3.5 in. (8.9 cm) diameter cylinder, 4 ft. (121.9 cm) tall – vertical orientation

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 4 of 12
Test 2
Sensor Elevation: 40 in. (101.6 cm)
Target: 12 in. x 12 in. (30.5 cm x 30.5 cm) cardboard, mounted on 1 in. (2.5 cm) pole
Target positioned parallel to backplane of sensor

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 5 of 12
Example Programs and Applications
BASIC Stamp 2
This circuit allows you to quickly connect your PING))) sensor to a BASIC Stamp® 2 via the Board of
Education® breadboard area. The PING))) module’s GND pin connects to Vss, the 5 V pin connects to
Vdd, and the SIG pin connects to I/O pin P15. This circuit will work with the example BASIC Stamp
program listed below.

Extension Cable and Port Cautions for the Board of Education

If you are connecting your PING))) sensor to a Board of Education platform using an extension cable,
follow these steps:

1. When plugging the cable onto the PING))) sensor, connect Black to GND, Red to 5 V, and White
to SIG.
2. Check to see if your Board of Education servo ports have a jumper, as shown at right.
3. If your Board of Education servo ports have a jumper, set it to Vdd as shown. Then plug the
cable into the port, matching the wire color to the labels next to the port.
4. If your Board of Education servo ports do not have a jumper, do not use them with the
PING))) sensor. These ports only provide Vin, not Vdd, and this may damage your PING)))
sensor. Go to the next step.
5. Connect the cable directly to the breadboard with a 3-pin header as shown above. Then, use
jumper wires to connect Black to Vss, Red to Vdd, and White to I/O pin P15.

Board of Education Servo Port Jumper, Set to Vdd

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 6 of 12
Example Program: PingMeasureCmAndIn.bs2

This example BS2 program is an excerpt from Chapter 2 of the Stamps in Class text Smart Sensors and
Applications. Additional PBASIC programs, one for the BS1 and another than runs on any model of
BASIC Stamp 2 (BS2, BS2e, BS2sx, BS2p, BS2pe, BS2px) can be downloaded from the 28015 product
page.

' Smart Sensors and Applications - PingMeasureCmAndIn.bs2

' Measure distance with Ping))) sensor and display in both in & cm

' {$STAMP BS2}

' {$PBASIC 2.5}

' Conversion constants for room temperature measurements.

CmConstant CON 2260
InConstant CON 890

cmDistance VAR Word

inDistance VAR Word
time VAR Word

DO

PULSOUT 15, 5
PULSIN 15, 1, time

cmDistance = cmConstant ** time

inDistance = inConstant ** time

DEBUG HOME, DEC3 cmDistance, " cm"

DEBUG CR, DEC3 inDistance, " in"

PAUSE 100

LOOP

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 7 of 12
Propeller Microcontroller
{{
***************************************
* Ping))) Object V1.1 *
* (C) 2006 Parallax, Inc. *
* Author: Chris Savage & Jeff Martin *
* Started: 05-08-2006 *
***************************************

Interface to Ping))) sensor and measure its ultrasonic travel time. Measurements can be in
units of time or distance. Each method requires one parameter, Pin, that is the I/O pin that
is connected to the Ping)))'s signal line.

┌───────────────────┐
│┌───┐ ┌───┐│ Connection To Propeller
││ ‣ │ PING))) │ ‣ ││ Remember PING))) Requires
│└───┘ └───┘│ +5V Power Supply
│ GND +5V SIG │
└─────┬───┬───┬─────┘
│ │  1K
 └┘ └ Pin

--------------------------REVISION HISTORY--------------------------
v1.1 - Updated 03/20/2007 to change SIG resistor from 10K to 1K
}}

CON
TO_IN = 73_746 ' Inches
TO_CM = 29_034 ' Centimeters

PUB Ticks(Pin) : Microseconds | cnt1, cnt2

''Return Ping)))'s one-way ultrasonic travel time in microseconds

outa[Pin]~ ' Clear I/O Pin

dira[Pin]~~ ' Make Pin Output
outa[Pin]~~ ' Set I/O Pin
outa[Pin]~ ' Clear I/O Pin (> 2 μs pulse)
dira[Pin]~ ' Make I/O Pin Input
waitpne(0, |< Pin, 0) ' Wait For Pin To Go HIGH
cnt1 := cnt ' Store Current Counter Value
waitpeq(0, |< Pin, 0) ' Wait For Pin To Go LOW
cnt2 := cnt ' Store New Counter Value
Microseconds := (||(cnt1 - cnt2) / (clkfreq / 1_000_000)) >> 1 ' Return Time in μs

PUB Inches(Pin) : Distance

''Measure object distance in inches

Distance := Ticks(Pin) * 1_000 / TO_IN ' Distance In Inches

PUB Centimeters(Pin) : Distance

''Measure object distance in centimeters

Distance := Millimeters(Pin) / 10 ' Distance In Centimeters

PUB Millimeters(Pin) : Distance

''Measure object distance in millimeters

Distance := Ticks(Pin) * 10_000 / TO_CM ' Distance In Millimeters

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 8 of 12
The ping.spin object is used in an example project with the Parallax 4 x 20 Serial LCD (#27979) to
display distance measurements. The complete Project Archive can be downloaded from the Propeller
Object Exchange at http://obex.parallax.com.

───────────────────────────────────────
Parallax Propeller Chip Project Archive
───────────────────────────────────────

Project : "ping_demo"

Archived : Tuesday, December 18, 2007 at 3:29:46 PM

Tool : Propeller Tool version 1.05.8

ping_demo.spin
│
├──Debug_Lcd.spin
│ │
│ ├──Serial_Lcd.spin
│ │ │
│ │ └──Simple_Serial.spin
│ │
│ └──Simple_Numbers.spin
│
└──ping.spin

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 9 of 12
Javelin Stamp Microcontroller
This class file implements several methods for using the PING))) sensor with the Javelin Stamp module.

package stamp.peripheral.sensor;

import stamp.core.*;

/**
* This class provides an interface to the Parallax PING))) ultrasonic
* range finder module.
* <p>
* <i>Usage:</i><br>
* <code>
* Ping range = new Ping(CPU.pin0); // trigger and echo on P0
* </code>
* <p>
* Detailed documentation for the PING))) Sensor can be found at: <br>
* http://www.parallax.com/detail.asp?product_id=28015
* <p>
*
* @version 1.0 03 FEB 2005
*/
public final class Ping {

private int ioPin;

/**
* Creates PING))) range finder object
*
* @param ioPin PING))) trigger and echo return pin
*/
public Ping (int ioPin) {
this.ioPin = ioPin;
}

/**
* Returns raw distance value from the PING))) sensor.
*
* @return Raw distance value from PING)))
*/
public int getRaw() {

int echoRaw = 0;

CPU.writePin(ioPin, false); // setup for high-going pulse

CPU.pulseOut(1, ioPin); // send trigger pulse
echoRaw = CPU.pulseIn(2171, ioPin, true); // measure echo return

// return echo pulse if in range; zero if out-of-range

return (echoRaw < 2131) ? echoRaw : 0;
}

/*
* The PING))) returns a pulse width of 73.746 uS per inch. Since the
* Javelin pulseIn() round-trip echo time is in 8.68 uS units, this is the
* same as a one-way trip in 4.34 uS units. Dividing 73.746 by 4.34 we
* get a time-per-inch conversion factor of 16.9922 (x 0.058851).
*

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 10 of 12
 * Values to derive conversion factors are selected to prevent roll-over
* past the 15-bit positive values of Javelin Stamp integers.
*/

/**
* @return PING))) distance value in inches
*/
public int getIn() {
return (getRaw() * 3 / 51); // raw * 0.058824
}

/**
* @return PING))) distance value in tenths of inches
*/
public int getIn10() {
return (getRaw() * 3 / 5); // raw / 1.6667
}

/*
* The PING))) returns a pulse width of 29.033 uS per centimeter. As the
* Javelin pulseIn() round-trip echo time is in 8.68 uS units, this is the
* same as a one-way trip in 4.34 uS units. Dividing 29.033 by 4.34 we
* get a time-per-centimeter conversion factor of 6.6896.
*
* Values to derive conversion factors are selected to prevent roll-over
* past the 15-bit positive values of Javelin Stamp integers.
*/

/**
* @return PING))) distance value in centimeters
*/
public int getCm() {
return (getRaw() * 3 / 20); // raw / 6.6667
}

/**
* @return PING))) distance value in millimeters
*/
public int getMm() {
return (getRaw() * 3 / 2); // raw / 0.6667
}
}

This simple demo illustrates the use of the PING))) ultrasonic range finder class with
the Javelin Stamp:

import stamp.core.*;
import stamp.peripheral.sensor.Ping;

public class testPing {

public static final char HOME = 0x01;

public static void main() {

Ping range = new Ping(CPU.pin0);

StringBuffer msg = new StringBuffer();

int distance;

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 11 of 12
 while (true) {
// measure distance to target in inches
distance = range.getIn();

// create and display measurement message

msg.clear();
msg.append(HOME);
msg.append(distance);
msg.append(" \" \n");
System.out.print(msg.toString());

// wait 0.5 seconds between readings

CPU.delay(5000);
}
}
}

Resources and Downloads

You can find additional resources for the PING))) sensor by searching the following product pages at
www.parallax.com:
y Smart Sensors and Applications (a Stamps in Class text), #28029
y PING))) Mounting Bracket Kit – a servo-driven mount designed to attach to a Boe-Bot robot,
#570-28015
y Extension cable with 3-in header, #805-00011 (10-in.) or #805-00012 (14-in.)
A video of a Boe-Bot robot using the PING))) sensor to scan its surroundings then drive to the closest
object can be found under Resources > Video Library > Boe-Bot Robot Video Gallery.

Copyright © Parallax Inc. PING))) Ultrasonic Distance Sensor (#28015) v1.5 2/15/2008 Page 12 of 12
 Web Site: www.parallax.com Office: (916) 624-8333
Forums: forums.parallax.com Fax: (916) 624-8003
Sales: sales@parallax.com Sales: (888) 512-1024
Technical: support@parallax.com Tech Support: (888) 997-8267

Water Level Measurement with the Ping)))

Ultrasonic Distance Sensor (#28015)
General Description
Parallax customers frequently ask about measuring water level with the Ping))) Ultrasonic Distance
Sensor. The Ping))) sensor isn’t designed to be water resistant, and the specifications for the transducer
don’t provide any details for humidity sensitivity. Therefore, customers attempting to measure water level
are doing so at their own risk of damaging their Ping))) hardware. At some point the humidity and
moisture will likely damage your Ping))) Ultrasonic Distance Sensor, but depending on your circumstances
and need this may or may not be a problem.

The purpose of this explanation is to convey the results of a brief test conducted at Parallax
headquarters.

Ping))) Sensor Specifications

The Ping))) sensor's ultrasonic transducer emitter and detector have the following specifications:

Rated Freq 40 kHz

Sensitivity -65 dB
Sound Pressure 115 dB
Capacitance 2 nF
Driving Voltage 0 VDC
Operating Temp 30° to 75 °C

No humidity exposure rating is provided by the transducer manufacturer.

Water Measurement Level Setup

We started our experiment by placing the Ping))) sensor in
a two-inch diameter ABS plastic pipe. This provided
readings to a maximum of five feet. Using a three-inch ABS
pipe we obtained readings all the way to the end of the ten-
foot length. This simple experiment showed that water level
could be measured with a Ping))) sensor through the middle
of an ABS pipe.

Next the Ping))) sensor was mounted in a plastic case to

keep water away from most of the electronics. Silicon
caulking was put around the transducers. The Ping)))

Copyright © Parallax Inc. • Water Level Measurement with Ping))) Sensor (#28015) • v1.0 2/9/2007 Page 1 of 2
sensor setup was placed on top of the pipe with water in a bucket and left to rest for ten days to see if
storage in a humid environment would be a problem. After this period, we tested the Ping))) sensor and
it still operated (California is also a dry climate).

To continue with our tests, we attempted to measure the water level of boiling water (based on another
customer request). We held the operating Ping))) sensor over boiling water for a few seconds at various
heights, and it did indeed measure the distance to the boiling water. When steam was thick (closer to
the water, and when the water was boiling hard) condensation droplets would accumulate on the
transducers; we then moved it out of steam for a minute for the droplets to dry then continued with the
test. The Ping sensor continued to operate throughout the 10-minute test. We concluded that the
Ping))) sensor could sense the surface of the boiling water, but the measurements were affected when
the cloud of steam was particularly thick.

The distance measurements through the ABS pipe were initially obtained using a ping pong ball taped to
the end of a tape measure. The ball was moved up and down the pipe in one inch increments and the
Ping))) showed accurate measurements.

Then the ten-foot pipe was inserted in a bucket of water and we moved the pipe up and down in the
bucket. Though the bucket was only a foot deep the Ping))) showed accurate readings for each inch of
movement ten feet away.

Copyright © Parallax Inc. • Water Level Measurement with Ping))) Sensor (#28015) • v1.0 2/9/2007 Page 2 of 2
 Chapter 1: Detect Distance with the Ping))) Ultrasonic Detector · Page 1

Chapter #1: Detect Distance with the Ping)))(TM)

Ultrasonic Sensor
WHAT IS THE PING))) SENSOR?
The Ping))) sensor is a device you can use with the BASIC Stamp to measure how far
away an object is. With a range of 3 centimeters to 3.3 meters, it's a shoe-in for any
number of robotics and automation projects. It's also remarkably accurate, easily
detecting an object's distance down to the half centimeter.

Figure 1
The Ping))) Sensor

HOW DOES THE PING))) SENSOR WORK?

Figure 2 shows how the Ping))) sensor sends a brief chirp with its ultrasonic speaker and
makes it possible for the BASIC Stamp to measure the time it takes the echo to return to
its ultrasonic microphone. The BASIC Stamp starts by sending the Ping))) sensor a pulse
to start the measurement. Then, the Ping))) sensor waits long enough for the BASIC
Stamp program to start a PULSIN command. At the same time the Ping))) sensor chirps
its 40 kHz tone, it sends a high signal to the BASIC Stamp. When the Ping))) sensor
detects the echo with its ultrasonic microphone, it changes that high signal back to low.
The BASIC Stamp's PULSIN command stores how long the high signal from the Ping)))
sensor lasted in a variable. The time measurement is how long it took sound to travel to
the object and back. With this measurement, you can then use the speed of sound in air
to make your program calculate the object's distance in centimeters, inches, feet, etc...
______________________________________________________________________________________________

The draft material in this Chapter is part of a forthcoming Stamps in Class text by Andy Lindsay.

(c) 2005 by Parallax Inc - all rights reserved.

Page 2 · Smart Sensors and Applications

Figure 2 - How the Ping))) Sensor Works

The Ping))) sensor's chirps are not audible because 40 kHz is ultrasonic.
What we consider sound is our inner ear's ability to detect the variations in air pressure
caused by vibration. The rate of these variations determines the pitch of the tone. Higher
frequency tones result in higher pitch sounds and lower frequency tones result in lower pitch
tones.
Most people can hear tones that range from 20 Hz, which is very low pitch, to 20 kHz, which
is very high pitch. Subsonic is sound with frequencies below 20 Hz, and ultrasonic is sound
with frequencies above 20 kHz. Since the Ping))) sensor's chirps are at 40 kHz, they are
definitely ultrasonic, and not audible.

ACTIVITY #1: MEASURING ECHO TIME

In this activity, you will test the Ping))) sensor and verify that it gives you echo time
measurements that correspond to an object's distance. You will also modify the example
program to convert these times into centimeter measurements.

Parts Required
All you'll need is a Ping))) sensor and three jumper wires to make it work. The Ping)))
sensor has protection against programming mistakes (and wiring mistakes) built-in, so
there's no need to use a 220 Ω resistor between P15 and the Ping))) sensor's SIG terminal.

(1) Ping))) Ultrasonic Distance Sensor

(3) Jumper Wires
 Chapter 1: Detect Distance with the Ping))) Ultrasonic Detector · Page 3

Ping))) Sensor Circuit

Figure 3 shows a schematic and wiring diagram you can use to test the Ping))) sensor.

√ Build the circuit.

Figure 3 - Ping))) Sensor Schematic and Wiring Diagram

Testing the Ping))) Sensor

As mentioned earlier, the Ping))) sensor needs a start pulse from the BASIC Stamp to
start its measurement. A pulse to P15 that lasts 10 µs (PULSOUT 15, 5) is easily
detected by the Ping))) sensor, and it only takes a small amount of time for the BASIC
Stamp to send. A PULSIN command that stores the duration of the Ping))) sensor's echo
pulse has to come immediately after the PULSOUT command. The result the PULSIN
command stores is the round trip time for the Ping))) sensor's chirp to get to the object,
reflect and return.

Example Program - PingTest.bs2

You can test this next program by measuring the distances of a few close-up objects. For
close up measurements, the Ping))) sensor only needs to be roughly Boe-Bot height
above your working surface (8 to 10 cm). However, if you are measuring objects that are
more than a half a meter away, make sure to keep your Ping))) sensor about half a meter
or more above the floor.

√ Place your Board of Education with the Ping))) sensor circuit on something to keep it
at least 8 cm above the table surface.
Page 4 · Smart Sensors and Applications

√ Place an object (like a water bottle, box, or paper target) 15 cm from the front of the
Ping))) sensor.
√ Enter, save, and run PingTest.bs2.
√ The Debug Terminal should start reporting a value in the neighborhood of 450.
Values of 438 to 466 mean the distance is between 15 and 16 cm.
√ Move the target to a distance of 30 cm from the Ping))) sensor and verify that the
value of the time variable doubled.
√ Point your Ping))) sensor at a variety of near and far objects and observe the time
measurements.
√ Multiply your measurements by 0.03434 to convert to centimeter measurements, and
verify that the measurements are correct.
' PingTest.bs2

' {$STAMP BS2}

' {$PBASIC 2.5}

time VAR Word

DO

PULSOUT 15, 5
PULSIN 15, 1, time
DEBUG HOME, "time = ", DEC5 time
PAUSE 100

LOOP

Your Turn - Displaying Centimeter Measurements

The next activity will introduce how to derive constants like 0.03434 for converting the
echo time measurements to centimeters and other units. But first, let's look at how the
PBASIC ** operator makes it possible to multiply the time variable by a value like
0.03434. To convert 0.03434 to a value the ** operator can use, multiply it by 65536,
and use whatever's to the left of the decimal point. Since 0.03434 × 65536 = 2250.5,
we'll use 2251 with the ** operator for the time to centimeter conversion. Here's the
conversion statement with the constant we just figured along with a DEBUG command to
display the centimeter value.

time = time ** 2251

DEBUG CR, "Distance = ", DEC4 time, " cm"
 Chapter 1: Detect Distance with the Ping))) Ultrasonic Detector · Page 5

√ Save PingTest.bs2 as PingCentimeters.bs2.

√ Add the two new lines of code to the program's DO...LOOP between the DEBUG and
PAUSE commands. When you're done, the DO...LOOP should look like this:

DO

PULSOUT 15, 5
PULSIN 15, 1, time
DEBUG HOME, "time = ", DEC5 time
time = time ** 2251
DEBUG CR, "Distance = ", DEC4 time, " cm"
PAUSE 100

LOOP

√ Run your modified program and verify that the program correctly displays both the
echo time and centimeter measurements.