/*
Speed of sound = 330ms0-1
max range = 0.5m
s*t=d
330x = 0.5 *2 bc it's a round trip
x = 0.0030 s
x = 3000 µs
*/

#define PULSE_DELAY 3000
// #define PULSE_DELAY 15000
// front fork LL LS RS RR
const int trig_pin_2 = 8;
const int echo_pin_2 = 9;

const int trig_pin_1 = 10;
const int echo_pin_1 = 11;

const int trig_pin_4 = 14;
const int echo_pin_4 = 15;

const int trig_pin_3 = 16;
const int echo_pin_3 = 17;

// Rear Right RRR RRS
const int trig_pin_10 = 22;
const int echo_pin_10 = 24;

const int trig_pin_11 = 26;
const int echo_pin_11 = 28;

//Rear Straight RSR RSL RSS
const int trig_pin_7 = 30;
const int echo_pin_7 = 32;

const int trig_pin_9 = 34;
const int echo_pin_9 = 36;

const int trig_pin_8 = 38;
const int echo_pin_8 = 40;

//Real Left RLL RLR
const int trig_pin_5 = 42;
const int echo_pin_5 = 44;

const int trig_pin_6 = 46;
const int echo_pin_6 = 48;

int distance_1;
int distance_2;
int distance_3;
int distance_4;
int distance_5;
int distance_6;
int distance_7;
int distance_8;
int distance_9;
int distance_10;
int distance_11;

void setup() {
  pinMode(trig_pin_1, OUTPUT); // Sets the trigPin as an Output
  pinMode(echo_pin_1, INPUT); // Sets the echoPin as an Input
  pinMode(trig_pin_2, OUTPUT);
  pinMode(echo_pin_2, INPUT);
  pinMode(trig_pin_3, OUTPUT);
  pinMode(echo_pin_3, INPUT);
  pinMode(trig_pin_4, OUTPUT);
  pinMode(echo_pin_4, INPUT);
  pinMode(trig_pin_5, OUTPUT);
  pinMode(echo_pin_5, INPUT);
  pinMode(trig_pin_6, OUTPUT);
  pinMode(echo_pin_6, INPUT);
  pinMode(trig_pin_7, OUTPUT);
  pinMode(echo_pin_7, INPUT);
  pinMode(trig_pin_8, OUTPUT);
  pinMode(echo_pin_8, INPUT);
  pinMode(trig_pin_9, OUTPUT);
  pinMode(echo_pin_9, INPUT);
  pinMode(trig_pin_10, OUTPUT);
  pinMode(echo_pin_10, INPUT);
  pinMode(trig_pin_11, OUTPUT);
  pinMode(echo_pin_11, INPUT);
  Serial.begin(115200); // Starts the serial communication
  }

void pulse_pin(int trig_pin) {
  digitalWrite(trig_pin, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trig_pin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trig_pin, LOW);
}

int get_dist(int trig_pin, int echo_pin) {
  pulse_pin(trig_pin);
  float duration = pulseIn(echo_pin, HIGH, PULSE_DELAY);
  if (duration == 0) duration = 40000;
  int distance = duration * 0.034 / 2;
  return distance;
}

void loop() {
  distance_1 = get_dist(trig_pin_1, echo_pin_1);
  distance_2 = get_dist(trig_pin_2, echo_pin_2);
  distance_3 = get_dist(trig_pin_3, echo_pin_3);
  distance_4 = get_dist(trig_pin_4, echo_pin_4);
  distance_5 = get_dist(trig_pin_5, echo_pin_5);
  distance_6 = get_dist(trig_pin_6, echo_pin_6);
  distance_7 = get_dist(trig_pin_7, echo_pin_7);
  distance_8 = get_dist(trig_pin_8, echo_pin_8);
  distance_9 = get_dist(trig_pin_9, echo_pin_9);
  distance_10 = get_dist(trig_pin_10, echo_pin_10);
  distance_11 = get_dist(trig_pin_11, echo_pin_11);

  Serial.print("**");
  Serial.print(distance_1);
  Serial.print(" | ");
  Serial.print(distance_2);
  Serial.print(" | ");
  Serial.print(distance_3);
  Serial.print(" | ");
  Serial.print(distance_4);
  Serial.print(" | ");
  Serial.print(distance_5);
  Serial.print(" | ");
  Serial.print(distance_6);
  Serial.print(" | ");
  Serial.print(distance_7);
  Serial.print(" | ");
  Serial.print(distance_8);
  Serial.print(" | ");
  Serial.print(distance_9);
  Serial.print(" | ");
  Serial.print(distance_10);
  Serial.print(" | ");
  Serial.print(distance_11);
  Serial.println("##");
}