diff --git a/Arduino/Sensors/DigitalInput.cpp b/Arduino/Sensors/DigitalInput.cpp
new file mode 100644
index 0000000..b601281
--- /dev/null
+++ b/Arduino/Sensors/DigitalInput.cpp
@@ -0,0 +1,21 @@
+#include "DigitalInput.h"
+
+#include <Arduino.h>
+
+namespace RoboidControl {
+namespace Arduino {
+
+DigitalInput::DigitalInput(RemoteParticipant* participant, unsigned char pin) : TouchSensor(participant) {
+    this->pin = pin;
+
+    pinMode(pin, INPUT);
+}
+
+void DigitalInput::Update(unsigned long currentTimeMs) {
+    this->touchedSomething = digitalRead(pin) == LOW;
+
+    // std::cout << "DigitalINput pin " << (int)this->pin << ": " << this->touchedSomething << "\n";
+}
+
+}  // namespace Arduino
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Arduino/Sensors/DigitalInput.h b/Arduino/Sensors/DigitalInput.h
new file mode 100644
index 0000000..fa5d12f
--- /dev/null
+++ b/Arduino/Sensors/DigitalInput.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include "Sensors/TouchSensor.h"
+
+namespace RoboidControl {
+namespace Arduino {
+
+class DigitalInput : public TouchSensor {
+ public:
+  DigitalInput(RemoteParticipant* participant, unsigned char pin);
+
+  virtual void Update(unsigned long currentTimeMs) override;
+
+ protected:
+  unsigned char pin = 0;
+};
+
+}  // namespace Arduino
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Arduino/Sensors/UltrasonicSensor.cpp b/Arduino/Sensors/UltrasonicSensor.cpp
new file mode 100644
index 0000000..33a9a33
--- /dev/null
+++ b/Arduino/Sensors/UltrasonicSensor.cpp
@@ -0,0 +1,56 @@
+#include "UltrasonicSensor.h"
+
+#include <Arduino.h>
+
+namespace RoboidControl {
+namespace Arduino {
+
+UltrasonicSensor::UltrasonicSensor(RemoteParticipant* participant, unsigned char pinTrigger, unsigned char pinEcho)
+    : TouchSensor(participant) {
+  this->pinTrigger = pinTrigger;
+  this->pinEcho = pinEcho;
+
+  pinMode(pinTrigger, OUTPUT);  // configure the trigger pin to output mode
+  pinMode(pinEcho, INPUT);      // configure the echo pin to input mode
+}
+
+float UltrasonicSensor::GetDistance() {
+  // Start the ultrasonic 'ping'
+  digitalWrite(pinTrigger, LOW);
+  delayMicroseconds(5);
+  digitalWrite(pinTrigger, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(pinTrigger, LOW);
+
+  // Measure the duration of the pulse on the echo pin
+  float duration_us = pulseIn(pinEcho, HIGH, 100000);  // the result is in microseconds
+
+  // Calculate the distance:
+  // * Duration should be divided by 2, because the ping goes to the object
+  // and back again. The distance to the object is therefore half the duration
+  // of the pulse: duration_us /= 2;
+  // * Then we need to convert from microseconds to seconds: duration_sec =
+  // duration_us / 1000000;
+  // * Now we calculate the distance based on the speed of sound (340 m/s):
+  // distance = duration_sec * 340;
+  // * The result calculation is therefore:
+  this->distance = duration_us / 2 / 1000000 * 340;
+
+  // Filter faulty measurements. The sensor can often give values > 30 m which
+  // are not correct
+  // if (distance > 30)
+  //   distance = 0;
+
+  this->touchedSomething = (this->distance <= this->touchDistance);
+
+//   std::cout << "Ultrasonic " << this->distance << " " << this->touchedSomething << "\n";
+
+  return distance;
+}
+
+void UltrasonicSensor::Update(unsigned long currentTimeMs) {
+  GetDistance();
+}
+
+}  // namespace Arduino
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Arduino/Sensors/UltrasonicSensor.h b/Arduino/Sensors/UltrasonicSensor.h
new file mode 100644
index 0000000..3354701
--- /dev/null
+++ b/Arduino/Sensors/UltrasonicSensor.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include "Sensors/TouchSensor.h"
+
+namespace RoboidControl {
+namespace Arduino {
+
+class UltrasonicSensor : public TouchSensor {
+ public:
+  UltrasonicSensor(RemoteParticipant* participant, unsigned char pinTrigger, unsigned char pinEcho);
+
+  // parameters
+
+  float touchDistance = 0.2f;
+
+  // state
+
+  float distance = 0;
+  float GetDistance();
+
+  virtual void Update(unsigned long currentTimeMs) override;
+
+ protected:
+  unsigned char pinTrigger = 0;
+  unsigned char pinEcho = 0;
+};
+
+}  // namespace Arduino
+}  // namespace RoboidControl
\ No newline at end of file