/*InitUltrasonic*/
// Initialize echo and trigger pins
// Initialize input capture on echo pins to highest priority and detect every edge

/*PostUltrasonic*/
// Allows external code to post an event to this queue

/*RunUltrasonic*/

//ES_INIT event
	
// Initialize a one-third second timer
	
//ES_TIMEOUT event
	
// Clear trigger pins
	// Initialize a one-third second timer

//EV_ECHO event

	// Convert echo pulse width to distance in centimeters

	// If calculated distance is closer than a nearness threshold and near sent flag not set
		Set near sent flag	
Post object is near event to motor
	
	// If calculated distance is farther than a farness threshold and far sent flag not set
		Set far sent flag
Post object is far event to motor

//EV_REAR_ECHO event

	// Same as EV_ECHO event handler with rear sensor specific flags

/*IC3 Handler*/ Input capture for front ultrasonic sensor

	// Set front trigger pin
	// Read input capture buffer
	// If timer interrupt set and input capture value is less than 0x8000
		// Increment rollover
		// Clear timer interrupt
	
	// Calculate pulse width
	// If falling edge
		// Post EV_ECHO event to UltrasonicService with calculated pulse width

	// Clear input capture interrupt

/*IC4 Handler*/ Input capture for rear ultrasonic sensor

	// Same as IC3 Handler but posts EV_REAR_ECHO and sets rear trigger pin