10 REM "The pin setting for Arduino or ESP32"
20 REM SP=27: TP=17: EP=16
30 SP=6: TP=4: EP=5
300 REM "The function for the servo and the echo, integer safe!"
310 DEF FNP(A)=40+A*200/180
320 DEF FNE(P)=P/29*100/2
1000 REM "Look around once"
1010 GOSUB 10000
1020 FOR J=1 TO 5
1030 PRINT J, E(J)
1040 NEXT
1050 END
10000 REM "The look around code"
10060 FOR J=1 TO 5
10070 A=(J-1)*45: GOSUB 12000: GOSUB 11000: E(J)=E
10120 NEXT
10130 A=90: GOSUB 12000
10190 RETURN
11000 REM "Echo once and return the value in E"
11010 DWRITE TP,0: PULSE TP,10
11020 E=FNE(PULSE(EP,1,70))
11030 RETURN
12000 REM "The servo code"
12010 DWRITE SP,0
12020 FOR I=1 TO 40: DELAY 20: PULSE SP,FNP(A): NEXT
12030 RETURN