diff --git a/include/data_source.h b/include/data_source.h
index 6952b68..d437c2e 100644
--- a/include/data_source.h
+++ b/include/data_source.h
@@ -10,7 +10,7 @@ class DataSource {
     public:
         DataSource();
         DataSource(HardwareSerial*, int);
-        DataSource(TwoWire*);
+        DataSource(TwoWire*, int addr);
         DataSource(int, bool);
 
     public: 
@@ -32,6 +32,7 @@ class DataSource {
         
         HardwareSerial* ser;
         TwoWire* i2c;
+        int i2CAddr;
 
         Protocols protocol;
         int pin;
diff --git a/include/data_source_us.h b/include/data_source_us.h
index 6ba8788..3eabc9f 100644
--- a/include/data_source_us.h
+++ b/include/data_source_us.h
@@ -1,21 +1,21 @@
 #pragma once
 #include "data_source.h"
 
+#define US_WAIT_TIME 70
+
 class DataSourceUS : public DataSource{
 
     public:
-        DataSourceUS(TwoWire* i2c_);
+        DataSourceUS(TwoWire* i2c_, int addr);
         void postProcess() override;
         void test() override;
         void usMode();
         void usTrigger();
         void usReceive();
-        //void readSensor() override;
+        void readSensor() override;
 
         int reading;
         long us_t0;                
         long us_t1;                
-        bool us_flag;              
-        int us_values[4];             
-        int us_sx, us_dx, us_px, us_fr;      
+        bool us_flag;             
 };
\ No newline at end of file
diff --git a/src/data_source.cpp b/src/data_source.cpp
index 56535c9..3e9d73f 100644
--- a/src/data_source.cpp
+++ b/src/data_source.cpp
@@ -4,9 +4,12 @@ DataSource::DataSource(void){
     protocol = P_NULL;
 }
 
-DataSource::DataSource(TwoWire* i2c_){
+DataSource::DataSource(TwoWire* i2c_, int addr){
     protocol = P_I2C;
     this->i2c = i2c_;    
+    this->i2CAddr = addr;
+
+    i2c->end();
     i2c->begin();
 }
 
diff --git a/src/data_source_us.cpp b/src/data_source_us.cpp
index 5bc1d8a..d8adf6a 100644
--- a/src/data_source_us.cpp
+++ b/src/data_source_us.cpp
@@ -1,84 +1,58 @@
 #include "data_source_us.h"
 #include "vars.h"
 
-DataSourceUS :: DataSourceUS(TwoWire* i2c_) : DataSource(i2c_) { 
-    i2c->begin();   
+DataSourceUS::DataSourceUS(TwoWire* i2c_, int addr) : DataSource(i2c_, addr) { }
+
+void DataSourceUS::test(){
+    readSensor();
+    delay(US_WAIT_TIME + 5);
+    readSensor();
+    DEBUG_PRINT.println(value);
 }
 
-
-void DataSourceUS :: postProcess(){
-    usMode();
-    us_fr = us_values[0]; // FRONT US
-    us_dx = us_values[1]; // DX US
-    us_px = us_values[2]; // BACK US
-    us_sx = us_values[3]; // SX US
-}
-
-void DataSourceUS :: usMode(){
-    if (us_flag == false) {
-        usTrigger();
-        us_flag = true;
-        us_t0 = millis();
-    } else {
-        us_t1 = millis();
-        if ((us_t1 - us_t0) > 70) {
-        usReceive();
-        us_flag = false;
+void DataSourceUS::readSensor(){
+  if (us_flag == false) {
+    usTrigger();
+    us_flag = true;
+    us_t0 = millis();
+  } else {
+    us_t1 = millis();
+    if ((us_t1 - us_t0) > US_WAIT_TIME) {
+      usReceive();
+      us_flag = false;
     }
   }
 }
 
-void DataSourceUS :: usTrigger(){
-    for (int i = 0; i < 4; i++){
-        i2c->beginTransmission(112 + i);
-        i2c->write(byte(0x00));
-        i2c->write(byte(0x51));
-        i2c->endTransmission();
-    }
+void DataSourceUS::usTrigger() {
+    // step 1: instruct sensor to read echoes
+    // transmit to device #112 (0x70)
+    i2c->beginTransmission(i2CAddr);
+    // sets register pointer to the command register (0x00)
+    i2c->write(byte(0x00));
+    // command sensor to measure in "centimeters" (0x51). 0x50 inches and 0x52
+    // microseconds
+    i2c->write(byte(0x51));
+    i2c->endTransmission();
 }
 
-void DataSourceUS :: usReceive(){
-    for (int i = 0; i < 4; i++){
-        i2c->beginTransmission(112 + i);
-        i2c->write(byte(0x00));
-        i2c->write(byte(0x51));
-        i2c->endTransmission();
-        delay(70);
-        i2c->requestFrom(112 + i, 2);
-        if(2 <= i2c->available()){
-            reading = i2c->read();
-            reading = reading << 8;
-            reading |= i2c->read();
-            us_values[i] = reading;
-        }
-    }
-}
+void DataSourceUS::usReceive() {
+    // transmit to device #112s
+    i2c->beginTransmission(i2CAddr);
+    // sets register pointer to echo 1 register(0x02)
+    i2c->write(byte(0x02));
+    i2c->endTransmission();
 
-void DataSourceUS :: test(){
-    for (int i = 0; i < 4; i++){
-        i2c->beginTransmission(112 + i);
-        i2c->write(byte(0x00));
-        i2c->write(byte(0x51));
-        i2c->endTransmission();
-        delay(70);
-        i2c->requestFrom(112 + i, 2);
-        if(2 <= i2c->available()){
-            reading = i2c->read();
-            reading = reading << 8;
-            reading |= i2c->read();
-            us_values[i] = reading;
-        }
-    }
-    us_fr = us_values[0];
-    us_dx = us_values[1];
-    us_px = us_values[2];
-    us_sx = us_values[3];
+    // step 4: request reading from sensor
+    // request 2 bytes from slave device #112
+    i2c->requestFrom(i2CAddr, 2);
 
-    //printing the result
-    DEBUG_PRINT.println("---------------------");
-    for (int i = 0; i < 4; i++) {
-    DEBUG_PRINT.println(us_values[i]);
-    delay(250);
-    }
-    DEBUG_PRINT.println("---------------------");
-}
\ No newline at end of file
+    // step 5: receive reading from sensor
+    // receive high byte (overwrites  previous reading)
+    reading = i2c->read();
+    // shift high byte to be high 8 bits
+    reading = reading << 8;
+    // receive low byte as lower 8 bit
+    reading |= i2c->read();
+    value = reading;
+  }
\ No newline at end of file
diff --git a/src/sensors.cpp b/src/sensors.cpp
index 08f878f..f5f6e64 100644
--- a/src/sensors.cpp
+++ b/src/sensors.cpp
@@ -6,7 +6,7 @@ void initSensors(){
     compass = new DataSourceBNO055();
     ball = new DataSourceBall(&Serial4, 57600);
     camera = new DataSourceCamera(&Serial2, 19200);
-    us = new DataSourceUS(&Wire1);
+    us = new DataSourceUS(&Wire1, 112);
 }
 
 void updateSensors(){