ir sensors
const pinArray_t irReflectancePins[] = {25,27,24,26};
int asipDistanceClass::getDistance(int sequenceId)
{
const long MAX_DISTANCE = 100;
const long MAX_DURATION =   (MAX_DISTANCE * 58);

  // The sensor is triggered by a HIGH pulse of 2 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  byte pin = pins[sequenceId];
  pinMode(pin, OUTPUT);
  digitalWrite(pin, LOW);
  delayMicroseconds(4);
  digitalWrite(pin, HIGH);
  delayMicroseconds(10);
  digitalWrite(pin, LOW);

  pinMode(pin, INPUT);

  // limit pulseIn duration to a max of 275cm (just under 16ms)
  // if pulse does not arrive in this time then ping sensor may not be connected
  // if you need to increase this then you must change the distanceSensorDataRequest message body size
  long duration = pulseIn(pin, HIGH, MAX_DURATION);
  // convert the time into a distance
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the
  // object we take half of the distance travelled.
  int cm = (duration / 29) / 2;
  return cm;
}