Hehe mapping is one of my tasks too!

Edit: you can try using “[ cpp ]” and “[/ cpp ]” without quotes and spaces. Should format the code pretty :). I’ll definatelly have this somewhere below the comment box.

Though my averaging is out – it averages over 10 iterations of the void loop, instead a better wy of doing it is as follows:

    for (index = 0; index<=numReadings;index++) {
      digitalWrite(initPin, LOW);
      delayMicroseconds(50);
      digitalWrite(initPin, HIGH);
      delayMicroseconds(50);
      digitalWrite(initPin, LOW);
      pulseTime = pulseIn(echoPin, HIGH);
      distance = pulseTime/58;
      total = total + distance;
      delay(10);
    }
    average = total/numReadings;
    if (index >= numReadings)  {
      index = 0;
      total = 0;
    }

Basically it uses the same variables at the top of the script but actually calculates an average takign 10 readings at a time before deciding.

I’ve rigged up the SRF05 to a pair of servos, what I’d like to work on is mapping, so thebot maps its area and decides based on what its seen – then save and reuse the map (I’m a long way off!)