关于Arduino超声波测距的问题

以下是编写的源代码，但是运行起来会出现错误，哪位大神可以帮忙看下

#include <MsTimer2.h>

const int BuzPin=3;
const int WhtLedPin=9;
const int GrnLedPin=10;
const int RedLedPin=11;
float Distance=0.0;
boolean TimerRunning=false;
const int TrigOut=7;
const int Echoln=8;
const int CountdownTime=200;
const int BuzTime=50;
void TimerISR(){digitalWrite(BuzPin,HIGH&~digitalRead(BuzPin));}

float GetPulseTime(){
unsigned long PulseTime[10];
unsigned long SumValue=0;
unsigned long MaxValue=0;
unsigned long MinValue=1000000;
int TimeoutCount=0;

for(int i=0;i<10;i++){
digitalWrite(TrigOut,LOW);
delayMicroseconds(5);
digitalWrite(TrigOut,HIGH);
delayMicroseconds(20);
digitalWrite(TrigOut,LOW);

PulseTime[i]=pulseIn(Echoln,HIGH);

if(0==PulseTim