import RPi.GPIO as GPIO
from motorm import turn
import time
from time import sleep

trig_pin = 20
echo_pin = 21
GPIO.setmode(GPIO.BCM)
GPIO.setup(trig_pin, GPIO.OUT)
GPIO.setup(echo_pin, GPIO.IN)

def distance1():
    GPIO.output(trig_pin, True)
    sleep(0.00001)
    GPIO.output(trig_pin, False)
    pulse_start = time.time()
    pulse_end = time.time()
    while GPIO.input(echo_pin) == 0:
        pulse_start = time.time()
    while GPIO.input(echo_pin) == 1:
        pulse_end = time.time()
    pulse_duration = pulse_end - pulse_start
    sound_v = 34300 #cm/s
    distance = pulse_duration*sound_v/2
    return distance


for j in range(200):
    dis1 = distance1(); dis1=round(dis1,1)
    print(j,dis1)
    sleep(1.)

GPIO.cleanup()