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def distance(self):
        
        GPIO.setmode(GPIO.BCM)
        
        # setting GPIO pins
        self.setup_ultrasonic()
        # set Trigger to HIGH
        GPIO.output(self.GPIO_TRIGGER, True)
     
        # set a small delay and change Trigger to LOW/False
        time.sleep(0.00001)
        GPIO.output(self.GPIO_TRIGGER, False)
     
        # get the start time
        StartTimestart_time = time.time()
        StopTimestop_time = time.time()
     
        while GPIO.input(self.GPIO_ECHO) == 0:
            StartTimestart_time = time.time()
     
        # get stop time
        while GPIO.input(self.GPIO_ECHO) == 1:
            StopTimestop_time = time.time()
     
        # time difference between start and arrival
        TimeElapsedtime_occured = StopTimestop_time - StartTime
     start_time

          # sound speed (34300 cm/s)
        distance = (TimeElapsedtime_occured * 34300) / 2
        GPIO.cleanup()
        return distance