His hardware hack of the SR04 made this a software problem which he also managed to solve! [Clint] was working with the Arduino library ... be hacked to use the HC-SR04 using [Clint’s] techniques.

We don’t know if [Hanna Yatco] has a good sense of balance or not, but we do know her Arduino does. Her build uses the ubiquitous HC-SR04 SONAR ... you’d like to try using a time of flight ...