RobotDude of Lynxmotion.com helpfully put together this collection of threads with details and code for using the BasicATOM and BA Pro with the devices in the title. Some of these have code detailing how to use an ATOM to use serial pins to talk to the Parallax Ping)). Consider using these serial routines as a guide as how to talk to their other products that use serial. Most of these have some discussion posts before they get to the code, so some reading is needed in some cases.
http://www.lynxmotion.net/viewtopic.php?f=4&t=4714BasicMicro is in the midst of producing a guide as how to convert parallax PStamp code to ATOM(Pro) code. Until we release that, consider these good sources of proven working code.
kenjj (BasicMicro)