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Hi, this is nice work. But you say "I am trying to figure out how to get a better resolution, I know it is possible." One way is to measure temperature and compensate for the variation in the speed of sound with temperature. I did an experiment with that and documented it here <a href="http://la3za.blogspot.no/2014/05/temperature-compensation-for-arduino.html">Temperature compensation for an Arduino ultrasonic distance sensor</a>
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