#include <avr/io.h>
#include <string.h>
#include <stdlib.h>

#define DISTANCE_LIMIT 20


uint8_t Braking_Decision(uint16_t);

uint8_t Braking_Decision(uint16_t Distance)
{
	uint8_t DecisionFlag=0;
	if(Distance <= 20)
	{
		DecisionFlag=1;
	}

	return DecisionFlag;
}
#include <avr/io.h>
#include <string.h>
#include <stdlib.h>

#define  TRIGGER_PIN PA0
uint16_t Measurement;
uint16_t Distance;

uint16_t Measure(void);
uint16_t Calculation(uint16_t);

uint16_t Measure(void)
{
	DDRA = 0x01; //Make trigger pin as output

	return Measurement;
}

uint16_t Calculation(uint16_t Measurement)
{
	Distance = Measurement/932.8;
	return Distance;
}