Here is the code for Project Anders.

Code was initially developed by a friend of mine:

 

Using the Ping library available form http://arduino.cc/playground/Code/Ping, also have a look at the tute: http://arduino.cc/en/Tutorial/Ping/

Note: I am using the cheaper HC-SR04 ultrasonic sensors, in order to use the Ping library and code you can bridge the Trig and Echo pin. If you’d rather use them separately use this library: http://jaktek.com/wp-content/uploads/2011/12/Ultrasonic.zip from http://letsmakerobots.com/node/30209

initial CODE: 

 

//Written by Anders from Anders.com.au

// these arrays are looped through, make sure your pinb and motor match.
// so mypin[1] should corrispond to mymotor[1] and so on
int myPins[] = {6}; // map the pins for the Ping Sensors
int myMotors[] = {9}; //map the pins for the Vibration motors
int howmany = 1; //number of sensors and motors

void setup() {
// initialize serial communication:
Serial.begin(9600); // this just means you can output to the serial panel
}

void loop()
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, cm;

// loop through the pins array, noting theat we’ve set the limit to 5
int i; // define “i” this is used as a count variable
// start a count loop, since you know how many sensors there are, hard code this in the i < NUMBER OF SENSORS bit
for (i = 0; i < howmany; i = i + 1) {
// print out what pin
// Serial.println(myPins[i]);

// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
// check the pin pMyPin[i]
pinMode(myPins[i], OUTPUT);
digitalWrite(myPins[i], LOW);
delayMicroseconds(2);
digitalWrite(myPins[i], HIGH);
delayMicroseconds(5);
digitalWrite(myPins[i], LOW);

// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(myPins[i], INPUT);
duration = pulseIn(myPins[i], HIGH);

// convert the time into a distance
cm = microsecondsToCentimeters(duration);

// Serial.print(inches);
// Serial.print(“in, “);
// inches are for americans, they silly.
Serial.print(myPins[i]);
Serial.print(“-“);
Serial.print(cm);
Serial.print(“cm”);
Serial.println();

if(cm < 100){
analogWrite(myMotors[i],returnfeedback(cm));
// delay(returndelay(cm));
// analogWrite(myMotors[i], 0);
} else {
analogWrite(myMotors[i], 0);
}
} // end of the pin loop

delay(200);
}

int returnfeedback(int cm){
if (cm < 5){ // distance
return 255; // strength
} else if (cm < 10){
return 220;
} else if (cm < 20){
return 190;
} else if (cm < 40){
return 160;
} else if (cm < 80){
return 130;
} else if (cm < 100){
return 100;
} else {
return 0;
}
}

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;
}