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Hello! So I'm building a robot that is eventually supposed to implement an autonomous functionality, which means obstacle avoidance. I'll be using the HC-SR04 as the ultrasonic sensor of choice. I started out by verifying that the sensor works by running it using Energia, which is the standard "loop infinitely and take a measurement every so many microseconds". In my actual application, however, I want to send out a pulse on command. So when I say so, the ultrasonic will do a measurement (or an average of a few measurements) to tell me if an object is in the path of my robot or not. My act