diff --git a/src/ultrasonic.rs b/src/ultrasonic.rs
new file mode 100644
index 0000000..33fdeee
--- /dev/null
+++ b/src/ultrasonic.rs
@@ -0,0 +1,53 @@
+use hc_sr04::{HcSr04, Unit};
+
+let mut ultrasonic_front = HcSr04::new(
+    7,          // TRIGGER
+    1,          // ECHO
+    Some(23_f32) 
+).unwrap();
+
+let mut ultrasonic_left = HcSr04::new(
+    0,
+    4,
+    Some(23_f32) 
+).unwrap();
+
+let mut ultrasonic_right = HcSr04::new(
+    2,
+    5,
+    Some(23_f32) 
+).unwrap();
+
+let mut ultrasonic_rear = HcSr04::new(
+    3,
+    6,
+    Some(23_f32) 
+).unwrap();
+
+fn get_front_dist() -> Option<i32> {
+	match ultrasonic_front.measure_distance(Unit::Meters).unwrap() {
+    		Some(dist) => Some(dist),
+    		None => None,
+	}
+}
+
+fn get_left_dist() -> Option<i32> {
+        match ultrasonic_left.measure_distance(Unit::Meters).unwrap() {
+                Some(dist) => Some(dist),
+                None => None,
+        }
+}
+
+fn get_right_dist() -> Option<i32> {
+        match ultrasonic_right.measure_distance(Unit::Meters).unwrap() {
+                Some(dist) => Some(dist),
+                None => None,
+        }
+}
+
+fn get_rear_dist() -> Option<i32> {
+        match ultrasonic_rear.measure_distance(Unit::Meters).unwrap() {
+                Some(dist) => Some(dist),
+                None => None,
+        }
+}