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This sketch is an example of 2 units of HC-SR04 Ranging Module connected to Arduino Uno ATMega 238. The dual HC-SR04 trigger by the same output pin 2 and echo at pin 3 (PCINT19) and 4 (PCINT20). It utilise Pin Change Interrupts feature of ATMega 238. The distance values are then publish on two seperate <std_msgs/Float32> ROS messages.

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irsyadtc/Arduino_ROS_Dual_Ultrasonic_Simultaneous_Trigger

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HC_SR04_Dual_Sensor_Arduino_ROS
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"HR_SC04_Dual_Sensor_Arduino_ROS.ino" is an example of 2 units of HC-SR04 Ranging Module connected to Arduino Uno ATMega 238. The dual HC-SR04 trigger by the same output pin 2 and echo at pin 3 (PCINT19) and 4 (PCINT20). It utilises Pin Change Interrupts feature of ATMega 238. The distance values are then publish on two seperate <std_msgs/Float32> ROS messages.

HC-SR04 info: Power Supply :+5V DC Quiescent Current : <2mA Working Currnt: 15mA Effectual Angle: <15° Ranging Distance : 2cm – 400 cm/1" ­ 13ft Resolution : 0.3 cm Measuring Angle: 30 degree Trigger Input Pulse width: 10uS Dimension: 45mm x 20mm x 15mm

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This sketch is an example of 2 units of HC-SR04 Ranging Module connected to Arduino Uno ATMega 238. The dual HC-SR04 trigger by the same output pin 2 and echo at pin 3 (PCINT19) and 4 (PCINT20). It utilise Pin Change Interrupts feature of ATMega 238. The distance values are then publish on two seperate <std_msgs/Float32> ROS messages.

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