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peripheral/main.py

@@ -105,20 +105,28 @@ class App:
         except Exception as e:
             print(f"Error occurred: {e}")
 
-    def measure_distance(self):
+    def measure_distance(self) -> float:
         self.trigger.low()
         utime.sleep_us(2)
         self.trigger.high()
         utime.sleep_us(10)
         self.trigger.low()
 
+        start_time = utime.ticks_us()
         sent_time = utime.ticks_us()
         while self.echo.value() == 0:
+            print("hey", end="\r")
             sent_time = utime.ticks_us()
+            if sent_time - start_time >= 100_000:  # if it takes more than 100ms, stop
+                return -1
 
+        start_time = utime.ticks_us()
         received_time = utime.ticks_us()
         while self.echo.value() == 1:
+            print("ho", end="\r")
             received_time = utime.ticks_us()
+            if received_time - start_time >= 100_000:  # same
+                return -1
 
         delta_time = received_time - sent_time
         distance = delta_time / 1_000_000 * SOUND_SPEED / 2
@@ -170,5 +178,6 @@ class App:
 
             i += 1
 
+
 if __name__ == "__main__":
     App().run()