def measure_distance(trig_pin, echo_pin, num_readings=5):
    distances = []

    for _ in range(num_readings):
        GPIO.output(trig_pin, True)
        time.sleep(0.00001)
        GPIO.output(trig_pin, False)

        pulse_start = time.time()
        pulse_end = time.time()

        while GPIO.input(echo_pin) == 0:
            pulse_start = time.time()

        while GPIO.input(echo_pin) == 1:
            pulse_end = time.time()

        pulse_duration = pulse_end - pulse_start
        distance = pulse_duration * 17150  # Speed of sound = 34300 cm/s
        distances.append(distance)

    avg_distance = sum(distances) / num_readings
    return avg_distance