Rover.UltrasonicDistanceSensor.GetDistanceInCmAsync C# (CSharp) Method

        public async Task<double> GetDistanceInCmAsync(int timeoutInMilliseconds)
        {
            _distance = null;
            try
            {
                _stopwatch.Reset();

                // turn on the pulse
                _gpioPinTrig.Write(GpioPinValue.High);
                await Task.Delay(TimeSpan.FromMilliseconds(10));
                _gpioPinTrig.Write(GpioPinValue.Low);

                _stopwatch.Start();
                for (var i = 0; i < timeoutInMilliseconds/100; i++)
                {
                    if (_distance.HasValue)
                        return _distance.Value;

                    await Task.Delay(TimeSpan.FromMilliseconds(100));
                }
            }
            finally
            {
                _stopwatch.Stop();
            }
            return double.MaxValue;
        }

        private async void DoWork(object sender, DoWorkEventArgs e)
        {
            var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
            var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);

            await WriteLog("Moving forward");

            while (!_finish)
            {
                driver.MoveForward();

                await Task.Delay(200);

                var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);

                if (distance > 35.0)
                {
                    continue;
                }

                await WriteLog($"Obstacle found at {distance} cm or less. Turning right");

                await driver.TurnRightAsync();

                await WriteLog("Moving forward");
            }
        }