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Someone built a full 360° sonar on an ESP32, and the code is simpler than you'd think

ESP32 spins an HC-SR04 on a stepper to create a continuous 360° ultrasonic radar. Angle and distance pairs are streamed over TCP to a Processing UI that plots a live radar on a PC. ESP32 runs ...
Hackaday

HC-SR04 Isn’t The Same As Parallax PING))) But It Can Pretend To Be!

But with his long term goal in mind, he also modified the HC-SR04 sensor by removing the on-board pull-up resistor and adding a new one on the connector side to combine the signals. That gave him an ...
Hackaday

Good Vibrations: Giving The HC-SR04 A Brain Transplant

[Emil] got his hands on a dozen HC-SR04 ultrasonic sensors, but wasn’t too happy with their performance. Rather than give up, he reverse engineered the sensor and built an improved version. Hackers, ...