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ultrasonic based project with pic

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pratikkamble1993

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i am doing project with ultrasonic module hc sr-04,and pic 18f4550,please help me for code.i need to trigger sensot with 10 microsecond pulse,then sensor sends 8 bursts of 40khz...they are reflrcted back from object....if obstacle is detected we get 150microsecond to 25ms pulse at echo pin of sensor else if no obstacle detected we get 38ms pulse,so iwant programming using this things in c language.I have to show that obstacle detected anf distance at which it is detected on lcd,16x2.for distance mesurement using formula distance
distance(in cm)=pulse width(in microsec)/58
please send me c code for this, i tried alot but its not working properly
 

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