diff --git a/rover/src/tasks/srf02_task.cpp b/rover/src/tasks/srf02_task.cpp
new file mode 100644
index 0000000..7b3865c
--- /dev/null
+++ b/rover/src/tasks/srf02_task.cpp
@@ -0,0 +1,165 @@
+/*
+ * Copyright (c) 2017 FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ *    SRF02 Proximity sensor Task using PThreads
+ *
+ * Contributors:
+ *    M.Ozcelikors <mozcelikors@gmail.com>, created 05.10.2017
+ *
+ */
+
+#include "srf02_task.h"
+
+#include <wiringPi.h>
+#include <ctime>
+#include <unistd.h>
+#include "../timing/timing.h"
+#include "../api/basic_psys_rover.h"
+#include "../interfaces.h"
+#include <pthread.h>
+#include "../RaspberryTest.h"
+
+#include "../pthread_monitoring/collect_thread_name.h"
+
+#include <linux/i2c-dev.h> //!! Check if this header WORKS!!
+#include <fcntl.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <errno.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+
+
+/* Name of the I2C device we will be using */
+/* For older raspberry pi modules use "/dev/i2c-0" instead of "/dev/i2c-1" for the i2c port */
+const char *I2CDeviceName = "/dev/i2c-1";
+
+
+unsigned int readFromSRF02 (int deviceAddr)
+{
+	/* Parameters for SRF02 */
+	int fd; //File descriptor
+
+	int  address = deviceAddr;
+	unsigned char buf[10];  // Buffer for data being read/ written on the i2c bus
+
+	unsigned int result;
+
+	/* Open device for R/W operations */
+	if ((fd = open(I2CDeviceName, O_RDWR)) < 0)
+	{
+		perror("This error occured");
+		printf("Failed to open i2c port\n");
+		exit(1);
+	}
+
+	/* Set the port options and set the address of the device we wish to speak to */
+	if (ioctl(fd, I2C_SLAVE, address) < 0) {
+		perror("This error occured");
+		printf("Unable to get bus access to talk to slave\n");
+		exit(1);
+	}
+
+	/* Commands for performing a ranging */
+	buf[0] = 0;
+	buf[1] = 81;
+
+	/* Write commands to the i2c port */
+	if ((write(fd, buf, 2)) != 2)
+	{
+		perror("This error occured");
+		printf("Error writing to i2c slave\n");
+		exit(1);
+	}
+
+	/* This sleep waits for the ping to come back */
+	usleep(900000); //High-precision sleep system call!
+
+	/* This is the register we wish to read from */
+	buf[0] = 0;
+
+	/* Send the register to read from */
+	if ((write(fd, buf, 1)) != 1)
+	{
+		perror("This error occured");
+		printf("Error writing to i2c slave\n");
+		exit(1);
+	}
+
+	if (read(fd, buf, 4) != 4)
+	{
+		/* Read back data into buf[] */
+		perror("This error occured");
+		printf("Unable to read from slave\n");
+		exit(1);
+	}
+	else
+	{
+		unsigned char highByte = buf[2];
+		unsigned char lowByte = buf[3];
+		result = highByte;
+
+		/* Calculate range as a word value */
+		result <<= 8;
+		result += lowByte;
+		//printf("Device#%d: Software v: %d\n", deviceAddr, buf[0]);
+		//printf("Device#%d: Range was: %u\n", deviceAddr, result);
+	}
+
+	close(fd);
+
+	return result;
+}
+
+
+void *SRF02_Task (void * arg)
+{
+	timing srf02_task_tmr;
+	srf02_task_tmr.setTaskID("SRF02");
+	srf02_task_tmr.setDeadline(1);
+	srf02_task_tmr.setPeriod(1);
+
+	CollectThreadName("SRF02_Task");
+
+	unsigned int front_sensor, rear_sensor;
+
+	while (1)
+	{
+		srf02_task_tmr.recordStartTime();
+		srf02_task_tmr.calculatePreviousSlackTime();
+
+		//Task content starts here -----------------------------------------------
+
+		front_sensor = readFromSRF02 (FRONT_SRF02_ADDR);
+		printf("FRONT SRF02: %u\n", front_sensor);
+		rear_sensor =  readFromSRF02 (REAR_SRF02_ADDR);
+		printf("REAR SRF02: %u\n", rear_sensor);
+
+		//Task content ends here -------------------------------------------------
+
+		srf02_task_tmr.recordEndTime();
+		srf02_task_tmr.calculateExecutionTime();
+		srf02_task_tmr.calculateDeadlineMissPercentage();
+		srf02_task_tmr.incrementTotalCycles();
+		pthread_mutex_lock(&srf02_task_ti_l);
+			srf02_task_ti.deadline = srf02_task_tmr.getDeadline();
+			srf02_task_ti.deadline_miss_percentage = srf02_task_tmr.getDeadlineMissPercentage();
+			srf02_task_ti.execution_time = srf02_task_tmr.getExecutionTime();
+			srf02_task_ti.period = srf02_task_tmr.getPeriod();
+			srf02_task_ti.prev_slack_time = srf02_task_tmr.getPrevSlackTime();
+			srf02_task_ti.task_id = srf02_task_tmr.getTaskID();
+			srf02_task_ti.start_time = srf02_task_tmr.getStartTime();
+			srf02_task_ti.end_time = srf02_task_tmr.getEndTime();
+		pthread_mutex_unlock(&srf02_task_ti_l);
+		srf02_task_tmr.sleepToMatchPeriod();
+	}
+
+	/* the function must return something - NULL will do */
+	return NULL;
+}
diff --git a/rover/src/tasks/srf02_task.h b/rover/src/tasks/srf02_task.h
new file mode 100644
index 0000000..fe02460
--- /dev/null
+++ b/rover/src/tasks/srf02_task.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2017 FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ *    SRF02 Proximity sensor Task using PThreads
+ *
+ * Contributors:
+ *    M.Ozcelikors <mozcelikors@gmail.com>, created 05.10.2017
+ *
+ */
+
+#ifndef TASKS_SRF02_TASK_H_
+#define TASKS_SRF02_TASK_H_
+
+/* Defines */
+#define FRONT_SRF02_ADDR ((int) 0x70)
+#define REAR_SRF02_ADDR  ((int) 0x73)
+
+/* Interfaces */
+void *SRF02_Task(void * arg);
+
+
+#endif /* TASKS_SRF02_TASK_H_ */