#include <LiquidCrystal.h> 				//Load Liquid Crystal Library
LiquidCrystal  LCD(9, 8, 7, 6, 5, 4); 		//Create Liquid Crystal Object called LCD
int  trigPin=13; 				//Sensor Trip pin connected to Arduino pin 13
int echoPin=12; 				 //Sensor  Echo pin connected to Arduino pin 12
//int myCounter=0;  			//declare your variable  myCounter and set to 0
//int servoControlPin=6; 			//Servo control line is connected  to pin 6
float pingTime;  			//time for ping to travel from the sensor to the target  and return
float targetDistance; 		//Distance to Target in Centimeters
float  speedOfSound=776.5;	 //Speed of sound in miles per hour
 void setup() {
Serial.begin(9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
LCD.begin(16,2);		  //Tell Arduino to start your 16x2 LCD
LCD.setCursor(0,0); 		 //Set LCD cursor to  upper left corner, column 0, row 0
LCD.print("Distance:"); 		 //Print Message  on First Row
}
void loop() {
  digitalWrite(trigPin, LOW); 		//Set  trigger pin low
  delayMicroseconds(2000); 		//Let signal settle
  digitalWrite(trigPin,  HIGH); 		//Set trigPin high
  delayMicroseconds(15); 		//Delay in high state
  digitalWrite(trigPin, LOW); 		//ping has now been sent
  delayMicroseconds(10); 			 //Delay in high state
    pingTime = pulseIn(echoPin, HIGH);  	//pingTime  in microceconds
  pingTime=pingTime/1000000; 		//convert pingTime to seconds by  dividing by 1000000 (microseconds in a second)
  pingTime=pingTime/3600; 			//convert  pingtime to hours by dividing by 3600 (seconds in an hour)
  targetDistance=  speedOfSound * pingTime;  //This will be in miles, since we declared the speed of  sound as kilometers per hour; although we're going to convert it back to centimeters  
  targetDistance=targetDistance/2; //Remember ping travels to the target and  back from the target, so you must divide by 2 for actual target distance.
  targetDistance=  targetDistance*160934,4;    //Convert miles to centimeters by multipling by 160934,4  
LCD.setCursor(0,1);  		//Set the cursor to the first column of  the second row
  LCD.print("                "); 	//Print blanks to clear the  row
  LCD.setCursor(0,1);   		//Set Cursor again to the first column of the second  row
  LCD.print(targetDistance);	 //Print measured distance
  LCD.print("  centimeters");  	//Print your units
  delay(250); 			//Pause to let things settle
 }