Ref: HC-SR04 Ultrasonic sensor

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Library: PaulStoffregen / NewPing https://github.com/PaulStoffregen/NewPing (not yet tested but looks good)

Notes: There are many libraries, mostly forks of each other. The early ones as used in Arduino tutorials are slow which is a problem if using several sensors. The NewPing is much faster.

HC-SR04.jpg