from hcsr04 import*
from time import*
c=HCSR04(trig=12,echo=13)
s=PWM(Pin(22,Pin.OUT))
s.freq(50)
rt=Pin(25,Pin.OUT)
bt=Pin(26,Pin.OUT)
while True:
    d=c.distance()
    if d<300:
        s.duty(75)
        rt.on()
        bt.off()
        sleep(0.2)
        bt.on()
        rt.off()
        sleep(0.2)
    else:
        s.duty(27)
        rt.off()
        bt.off() 


main.py

diagram.json

import machine, time
from machine import *

class HCSR04:
    """
    Driver to use the untrasonic sensor HC-SR04.
    The sensor range is between 2cm and 4m.
    The timeouts received listening to echo pin are converted to OSError('Out of range')
    """
    # echo_timeout_us is based in chip range limit (400cm)
    def __init__(self, trig, echo, echo_timeout_us=500*2*30):
        """
        trigger_pin: Output pin to send pulses
        echo_pin: Readonly pin to measure the distance. The pin should be protected with 1k resistor
        echo_timeout_us: Timeout in microseconds to listen to echo pin.
        By default is based in sensor limit range (4m)
        """
        self.echo_timeout_us = echo_timeout_us
        # Init trigger pin (out)
        self.trigger = Pin(trig, mode=Pin.OUT, pull=None)
        self.trigger.value(0)

        # Init echo pin (in)
        self.echo = Pin(echo, mode=Pin.IN, pull=None)

    def _send_pulse_and_wait(self):
        """
        Send the pulse to trigger and listen on echo pin.
        We use the method `machine.time_pulse_us()` to get the microseconds until the echo is received.
        """
        self.trigger.value(0) # Stabilize the sensor
        time.sleep_us(5)
        self.trigger.value(1)
        # Send a 10us pulse.
        time.sleep_us(10)
        self.trigger.value(0)
        try:
            pulse_time = machine.time_pulse_us(self.echo, 1, self.echo_timeout_us)
            return pulse_time
        except OSError as ex:
            if ex.args[0] == 110: # 110 = ETIMEDOUT
                raise OSError('Out of range')
            raise ex

    def distance(self):
        """
        Get the distance in centimeters with floating point operations.
        It returns a float
        """
        pulse_time = self._send_pulse_and_wait()

        # To calculate the distance we get the pulse_time and divide it by 2
        # (the pulse walk the distance twice) and by 29.1 becasue
        # the sound speed on air (343.2 m/s), that It's equivalent to
        # 0.034320 cm/us that is 1cm each 29.1us
        cms = (pulse_time / 2) / 29.1
        return cms