Calibração de sensores - Wall-e e Akira

long duration, inches, cm;
 int emissor = 9;
 int receptor=10;

void setup() {
Serial.begin (9600);
 pinMode(emissor, OUTPUT);
  pinMode(receptor, INPUT);
}

// the loop routine runs over and over again forever:
void loop() {
  delay (250);
  int ir_d = analogRead(A1);
  int ir_e = analogRead(A2);
  int sensor_d = analogRead(A3);
  int sensor_e = analogRead(A4);
  sonar();
   Serial.print(ir_d);
  Serial.print(", ");
 Serial.print(ir_e);
  Serial.print(", ");
  Serial.print(sensor_d);
  Serial.print(", ");
 Serial.println(sensor_e);
 Serial.print(", ");
 Serial.println(cm);
  Serial.println();
}

  int sonar(){
  digitalWrite(emissor, LOW);
  delayMicroseconds(2);
  digitalWrite(emissor, HIGH);
  delayMicroseconds(10);
  digitalWrite(emissor, LOW);
  duration = pulseIn(receptor, HIGH);

  // convert the time into a distance

  cm = microsecondsToCentimeters(duration);
return cm;
 }

long microsecondsToCentimeters(long microseconds)
{
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the
  // object we take half of the distance travelled.
  return microseconds / 29 / 2;
}