Description of Arduino code and include or link to full Arduino sketch
/*
 * created by Rui Santos, https://randomnerdtutorials.com
 * 
 * Complete Guide for Ultrasonic Sensor HC-SR04
 *
    Ultrasonic sensor Pins:
        VCC: +5VDC
        Trig : Trigger (INPUT) - Pin11
        Echo: Echo (OUTPUT) - Pin 12
        GND: GND
 */
int potPinA = A1;
int potPinB = A2;
int trigPinA = 8;    // Trigger
int echoPinA = 9;    // Echo
int trigPinB = 10;    // Trigger
int echoPinB = 11;    // Echo
int potValA;
int potValB;
int prevSenValA;
int prevSenValB;
long durationA;
long durationB;
long cma, cmb, inches;
 
void setup() {
  //Serial Port begin
  Serial.begin (9600);
  //Define inputs and outputs
  pinMode(potPinA,INPUT);
  pinMode(potPinB,INPUT);
  pinMode(trigPinA, OUTPUT);
  pinMode(echoPinA, INPUT);
  pinMode(trigPinB, OUTPUT);
  pinMode(echoPinB, INPUT);
}
 
void loop() {
  // The sensor is triggered by a HIGH pulse of 10 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  digitalWrite(trigPinA, LOW);
  delayMicroseconds(5);
  digitalWrite(trigPinA, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPinA, LOW);
  potValA = analogRead(potPinA);
  potValB = analogRead(potPinB);
 
  // Read the signal from the sensor: a HIGH pulse whose
  // duration is the time (in microseconds) from the sending
  // of the ping to the reception of its echo off of an object.
  pinMode(echoPinA, INPUT);
  durationA = pulseInLong(echoPinA, HIGH);
  digitalWrite(trigPinB, LOW);
  delayMicroseconds(5);
  digitalWrite(trigPinB, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPinB, LOW);
  pinMode(echoPinB, INPUT);
  durationB = pulseInLong(echoPinB, HIGH);
  
 
  // Convert the time into a distance
  cma = (durationA/2) / 29.1;  
  cmb = (durationB/2) / 29.1;     // Divide by 29.1 or multiply by 0.0343
    if(cma < 500) {
    prevSenValA = cma;
    } else {
    cma = prevSenValA;
    }
  if(cmb < 500) {
    prevSenValB = cmb;
    } else {
    cmb = prevSenValB;
    }
  Serial.print(cmb);
  Serial.print(", ");
  Serial.print(cma);
  Serial.print(", ");
  Serial.print(potValB);
  Serial.print(", ");
  Serial.print(potValA);
 
  Serial.println();
  delay(50);
}