//ultrasonic 1
float echoPin1 =8;
float initPin1 =9;
float distance1 =0;

//ultrasonic 2
float echoPin2 =6;
float initPin2 =7;
float distance2 =0;

//ultrasonic 3
float echoPin3 =4;
float initPin3 =5;
float distance3 =0;

//ultrasonic 4
float echoPin4 =2;
float initPin4 =3;
float distance4 =0;


void setup() {
 
  pinMode(initPin1, OUTPUT);
  pinMode(echoPin1, INPUT);
  pinMode(initPin2, OUTPUT);
  pinMode(echoPin2, INPUT);
  pinMode(initPin3, OUTPUT);
  pinMode(echoPin3, INPUT);
  pinMode(initPin4, OUTPUT);
  pinMode(echoPin4, INPUT);

  Serial.begin(9600);
 
}

void loop() {
 
  distance1 = getDistance(initPin1, echoPin1);
  printDistance(1, distance1);
 
  distance2 = getDistance(initPin2, echoPin2);
  printDistance(2, distance2);
 
  distance3 = getDistance(initPin3, echoPin3);
  printDistance(3, distance3);

  distance4 = getDistance(initPin4, echoPin4);
  printDistance(4, distance4);
  
  Serial.println("");
  delay(100);
 
}

float getDistance (float initPin, float echoPin){

 digitalWrite(initPin, HIGH);
 delayMicroseconds(10);
 digitalWrite(initPin, LOW);
 float pulseTime = pulseIn(echoPin, HIGH);
 float distance = pulseTime/58;
 return distance;

}

 void printDistance(int id, float dist){
    Serial.print(dist);
    Serial.print(",");
   
 }