diff --git a/lowcar/devices/UltrasonicSensor/UltrasonicSensor.cpp b/lowcar/devices/UltrasonicSensor/UltrasonicSensor.cpp
index 528771ee..a2ff1c27 100644
--- a/lowcar/devices/UltrasonicSensor/UltrasonicSensor.cpp
+++ b/lowcar/devices/UltrasonicSensor/UltrasonicSensor.cpp
@@ -1,17 +1,29 @@
 #include "UltrasonicSensor.h"
 
 // pin definitions for the ultrasonic sensor
-#define TRIG_PIN 16
-#define ECHO_PIN 14
+#define TRIG_PIN 14
+#define ECHO_PIN 16
 
 UltrasonicSensor::UltrasonicSensor() : Device(DeviceType::ULTRASONIC_SENSOR, 17) {
-    ;
+    this->distance = 0;
 }
 
 size_t UltrasonicSensor::device_read(uint8_t param, uint8_t* data_buf) {
+    float* float_buf = (float*) data_buf;
+    float_buf[0] = this->distance;
+
+    return sizeof(float);
+}
+
+void UltrasonicSensor::device_enable() {
+    pinMode(TRIG_PIN, OUTPUT);
+    pinMode(ECHO_PIN, INPUT);
+}
+
+void UltrasonicSensor::device_actions() {
     // trigger the ultrasonic pulse
     digitalWrite(TRIG_PIN, LOW);
-    delayMicroseconds(2);
+    delayMicroseconds(10);
 
     digitalWrite(TRIG_PIN, HIGH);
     delayMicroseconds(10);
@@ -20,13 +32,5 @@ size_t UltrasonicSensor::device_read(uint8_t param, uint8_t* data_buf) {
     long duration = pulseIn(ECHO_PIN, HIGH);
     float distance = duration * 0.034f / 2.0f;  // convert to cm
 
-    float* float_buf = (float*) data_buf;
-    float_buf[0] = distance;
-
-    return sizeof(float);
-}
-
-void UltrasonicSensor::device_enable() {
-    pinMode(TRIG_PIN, OUTPUT);
-    pinMode(ECHO_PIN, INPUT);
+    this->distance = distance;
 }
\ No newline at end of file
diff --git a/lowcar/devices/UltrasonicSensor/UltrasonicSensor.h b/lowcar/devices/UltrasonicSensor/UltrasonicSensor.h
index 53c1e4f2..8ad1ed10 100644
--- a/lowcar/devices/UltrasonicSensor/UltrasonicSensor.h
+++ b/lowcar/devices/UltrasonicSensor/UltrasonicSensor.h
@@ -12,10 +12,10 @@ class UltrasonicSensor : public Device {
 
     virtual size_t device_read(uint8_t param, uint8_t* data_buf);
     virtual void device_enable();
+    virtual void device_actions();
 
   private:
-    static uint8_t trigPin;
-    static uint8_t echoPin;
+    float distance;
 };
 
 #endif