diff --git a/Scripts/GpioManager.py b/Scripts/GpioManager.py
index a6eca57..e996766 100644
--- a/Scripts/GpioManager.py
+++ b/Scripts/GpioManager.py
@@ -8,7 +8,7 @@ class GpioManager:
     def __init__(self):
         if RPI_ENV:
             print("Running on Raspberry Pi environment.")
-            GPIO.setmode(GPIO.BCM)
+            GPIO.setmode(GPIO.BOARD)
         else:
             print("Running in a non-Raspberry Pi environment. GPIO operations will be simulated.")
         self.state = {}
diff --git a/Scripts/Main.py b/Scripts/Main.py
index 3f940ce..3cda63f 100644
--- a/Scripts/Main.py
+++ b/Scripts/Main.py
@@ -20,25 +20,28 @@ def cleanupGpio(gpio:GpioManager):
 
 
 def readDistance(gpio:GpioManager, trig, echo):
+    # Ensure trigger is low
     gpio.output(trig, False)
     time.sleep(0.05)
+
+    # Send a 10us pulse to trigger
     gpio.output(trig, True)
     time.sleep(0.00001)
     gpio.output(trig, False)
 
-    pulseStart = None
-    pulseEnd = None
-    timeout = time.time() + 1
+    # Wait for the echo pin to go high
+    startTime = time.monotonic()
     while gpio.input(echo) == 0:
-        pulseStart = time.time()
-        if time.time() > timeout:
-            return -1
+        if time.monotonic() - startTime > 1:
+            return -1  # Timeout waiting for echo to start
+    pulseStart = time.monotonic()
+
+    # Wait for the echo pin to go low
     while gpio.input(echo) == 1:
-        pulseEnd = time.time()
-        if time.time() > timeout:
-            return -1
-    if pulseStart is None or pulseEnd is None:
-        return -1
+        if time.monotonic() - pulseStart > 1:
+            return -1  # Timeout waiting for echo to end
+    pulseEnd = time.monotonic()
+
     pulseDuration = pulseEnd - pulseStart
     distance = pulseDuration * 17150
     distance = round(distance, 2)
diff --git a/Scripts/PinDescription.py b/Scripts/PinDescription.py
index 2065459..7cba24a 100644
--- a/Scripts/PinDescription.py
+++ b/Scripts/PinDescription.py
@@ -1,3 +1,3 @@
-MOTOR_PIN = 17
-ULTRASONIC_TRIG = 23
-ULTRASONIC_ECHO = 24
+MOTOR_PIN = 32
+ULTRASONIC_TRIG = 40
+ULTRASONIC_ECHO = 38
diff --git a/config.yaml b/config.yaml
index c22bce4..4060a36 100644
--- a/config.yaml
+++ b/config.yaml
@@ -1,2 +1,2 @@
-appVersion: 1.0.1.1001
+appVersion: 1.1.0.1002