Use **MartyPy** to read the distance sensor add-on on your **Marty V2**.

Before you begin:

  * Make sure you have [[:martyv2:userguides:python:start|set up Python and MartyPy]].
  * Follow the [[:martyv2:userguides:sensorsandaddons:distancesensor|distance sensor setup guide]] to connect and configure your sensor.

===== Connect to Marty =====

Import `martypy` and connect to your robot. Choose **USB or WiFi**:

  * **USB:** run the code as shown. MartyPy can automatically find a single connected Marty.
  * **WiFi:** comment out the USB line, uncomment the WiFi line, and replace `192.168.0.5` with your Marty's IP address.

<code python>
import martypy

# Connect by USB.
my_marty = martypy.Marty("USB")

# Alternatively, connect by WiFi using your Marty's IP address.
# my_marty = martypy.Marty("wifi", "192.168.0.5")
</code>

===== Read the distance sensor =====

In the Python shell, run:

<code python>
my_marty.get_distance_sensor()
</code>

For Marty V2, `get_distance_sensor()` returns an **integer distance reading in millimetres (mm)** for the closest detected object. It returns `0` if no distance sensor is found.