UltraSonicXCR is a simple and effective library designed for easy use of the HC-SR04 ultrasonic distance sensor with Arduino.

• Compatible with HC-SR04 sensor
• Measures distance in centimeters
• Takes 5 samples and returns the average
• Returns 0 for invalid or out-of-range readings (filtering)
• Reliable measurement between 2–320 cm

TRIG and ECHO pins must be connected to digital pins. Analog pins are not compatible with the pulseIn() function.

#include "UltraSonicXCR.h"

UltraSonicXCR sensor(9, 10);  // TRIG -> D9, ECHO -> D10

void setup() {
    Serial.begin(9600);
}

void loop() {
    float distance = sensor.measureDistance();

    if (distance == 0) {
        Serial.println("Invalid reading or out of range.");
    } else {
        Serial.print("Distance: ");
        Serial.print(distance);
        Serial.println(" cm");
    }

    delay(200);
}

UltraSonicXCR(int trigPin, int echoPin);

• trigPin: Digital pin connected to TRIG
• echoPin: Digital pin connected to ECHO

float measureDistance();

• Returns distance in centimeters
• Returns 0 if the measurement is invalid or out of range

• The pulseIn() function measures echo duration in microseconds.
• Distance formula: distance = duration * 0.0343 / 2
• Applies a 30ms timeout. If no echo is received, returns 0.
• Waits 50ms between each sample.

MIT License — This library is open-source and free to use and modify.

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