UltrasoundSensor.py

import RPi.GPIO as GPIO
import time



try:
    GPIO.setmode(GPIO.BCM)
    GPIO.setwarnings(False)

    TRIG = 3
    ECHO = 4
    maxTime = 0.04

    while True:
        GPIO.setup(TRIG,GPIO.OUT)
        GPIO.setup(ECHO,GPIO.IN)

        GPIO.output(TRIG,False)

        time.sleep(0.01)

        GPIO.output(TRIG,True)

        time.sleep(0.00001)

        GPIO.output(TRIG,False)

        pulse_start = time.time()
        timeout = pulse_start + maxTime
        while GPIO.input(ECHO) == 0 and pulse_start < timeout:
            pulse_start = time.time()

        pulse_end = time.time()
        timeout = pulse_end + maxTime
        while GPIO.input(ECHO) == 1 and pulse_end < timeout:
            pulse_end = time.time()

        pulse_duration = pulse_end - pulse_start
        distance = pulse_duration * 17000
        distance = round(distance, 2)

        print(distance)
except:
    GPIO.cleanup()