// #include "Arduino.h"
// class Ultrasonic
// {
//     public:
//     Ultrasonic(int pin);
//     void DistanceMeasure(void);
//     double microsecondsToCentimeters(void);
//     double microsecondsToInches(void);
//     private:
//     int this_pin;//pin number of Arduino that is connected with SIG pin of Ultrasonic Ranger.
//     long duration;// the Pulse time received;
// };
// Ultrasonic::Ultrasonic(int pin)
// {
//     this_pin = pin;
// }
// /*Begin the detection and get the pulse back signal*/
// void Ultrasonic::DistanceMeasure(void)
// {
//     pinMode(this_pin, OUTPUT);
//     digitalWrite(this_pin, LOW);
//     delayMicroseconds(2);
//     digitalWrite(this_pin, HIGH);
//     delayMicroseconds(5);
//     digitalWrite(this_pin,LOW);
//     pinMode(this_pin,INPUT);
//     duration = pulseIn(this_pin,HIGH);
// }
// /*The measured distance from the range 0 to 400 Centimeters*/
// double Ultrasonic::microsecondsToCentimeters(void)
// {
//     return duration/29.0/2.0;
// }
// /*The measured distance from the range 0 to 157 Inches*/
// double Ultrasonic::microsecondsToInches(void)
// {
//     return duration/74.0/2.0;
// }

// Ultrasonic ultrasonic(2);
// void setup()
// {
//     Serial.begin(9600);
// }
// void loop()
// {
//     double RangeInInches;
//     double RangeInCentimeters;
//     ultrasonic.DistanceMeasure();// get the current signal time;
//     RangeInInches = ultrasonic.microsecondsToInches();//convert the time to inches;
//     RangeInCentimeters = ultrasonic.microsecondsToCentimeters();//convert the time to centimeters
//     Serial.println("The distance to obstacles in front is: ");
//     Serial.print(RangeInInches);//0~157 inches
//     Serial.println(" inch");
//     Serial.print(RangeInCentimeters);//0~400cm
//     Serial.println(" cm");
//     delay(1000);
// }