Hello, the RCWL-9600 is very accurate. You may read the data using a simple function like this: #define M5_I2C_ADDR_ULTRA 0x57 float ReadI2CDistance() { uint32_t data; Wire.beginTransmission(M5_I2C_ADDR_ULTRA); Wire.write(0x01); Wire.endTransmission(); delay(120); Wire.requestFrom(M5_I2C_ADDR_ULTRA,3); data = Wire.read();data <<= 8; data |= Wire.read();data <<= 8; data |= Wire.read(); return float(data) / 10000; // distance in cm }