diff --git a/docs/api_exc.rst b/docs/api_exc.rst
index 40bdf79..fe6e461 100644
--- a/docs/api_exc.rst
+++ b/docs/api_exc.rst
@@ -73,8 +73,6 @@ Errors
 
 .. autoexception:: PinError
 
-.. autoexception:: PinFixedFunction
-
 .. autoexception:: PinInvalidFunction
 
 .. autoexception:: PinInvalidState
diff --git a/docs/images/gpio_device_hierarchy.dot b/docs/images/gpio_device_hierarchy.dot
index d782b7c..3eaf266 100644
--- a/docs/images/gpio_device_hierarchy.dot
+++ b/docs/images/gpio_device_hierarchy.dot
@@ -24,6 +24,7 @@ digraph classes {
     MotionSensor->SmoothedInputDevice;
     LightSensor->SmoothedInputDevice;
     LineSensor->SmoothedInputDevice;
+    DistanceSensor->SmoothedInputDevice;
 
     OutputDevice->GPIODevice;
     DigitalOutputDevice->OutputDevice;
diff --git a/docs/images/gpio_device_hierarchy.pdf b/docs/images/gpio_device_hierarchy.pdf
index 8b7e9fa..8c981cc 100644
Binary files a/docs/images/gpio_device_hierarchy.pdf and b/docs/images/gpio_device_hierarchy.pdf differ
diff --git a/docs/images/gpio_device_hierarchy.png b/docs/images/gpio_device_hierarchy.png
index 7c9ca57..1df7301 100644
Binary files a/docs/images/gpio_device_hierarchy.png and b/docs/images/gpio_device_hierarchy.png differ
diff --git a/docs/images/gpio_device_hierarchy.svg b/docs/images/gpio_device_hierarchy.svg
index f4d59d0..92a33af 100644
--- a/docs/images/gpio_device_hierarchy.svg
+++ b/docs/images/gpio_device_hierarchy.svg
@@ -4,75 +4,75 @@
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 <title>classes</title>
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+<polygon fill="white" stroke="none" points="-4,4 -4,-400 697,-400 697,4 -4,4"/>
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 <g id="node1" class="node"><title>Device</title>
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-<text text-anchor="middle" x="368" y="-375.5" font-family="Sans" font-size="10.00" fill="#000000">Device</text>
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+<text text-anchor="middle" x="458" y="-375.5" font-family="Sans" font-size="10.00" fill="#000000">Device</text>
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 <g id="node2" class="node"><title>GPIODevice</title>
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-<text text-anchor="middle" x="368" y="-303.5" font-family="Sans" font-size="10.00" fill="#000000">GPIODevice</text>
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+<text text-anchor="middle" x="458" y="-303.5" font-family="Sans" font-size="10.00" fill="#000000">GPIODevice</text>
 </g>
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 <g id="edge1" class="edge"><title>GPIODevice&#45;&gt;Device</title>
-<path fill="none" stroke="black" d="M368,-324.303C368,-332.017 368,-341.288 368,-349.888"/>
-<polygon fill="black" stroke="black" points="364.5,-349.896 368,-359.896 371.5,-349.896 364.5,-349.896"/>
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+<polygon fill="black" stroke="black" points="454.5,-349.896 458,-359.896 461.5,-349.896 454.5,-349.896"/>
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 <g id="node3" class="node"><title>WaitableInputDevice</title>
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-<text text-anchor="middle" x="294" y="-159.5" font-family="Sans" font-size="10.00" fill="#000000">WaitableInputDevice</text>
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 <g id="node5" class="node"><title>InputDevice</title>
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-<text text-anchor="middle" x="312" y="-231.5" font-family="Sans" font-size="10.00" fill="#ffffff">InputDevice</text>
+<polygon fill="#2980b9" stroke="#2980b9" points="438.5,-252 365.5,-252 365.5,-216 438.5,-216 438.5,-252"/>
+<text text-anchor="middle" x="402" y="-231.5" font-family="Sans" font-size="10.00" fill="#ffffff">InputDevice</text>
 </g>
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 <g id="edge3" class="edge"><title>WaitableInputDevice&#45;&gt;InputDevice</title>
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-<polygon fill="black" stroke="black" points="301.722,-207.082 307.602,-215.896 308.501,-205.339 301.722,-207.082"/>
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+<polygon fill="black" stroke="black" points="391.722,-207.082 397.602,-215.896 398.501,-205.339 391.722,-207.082"/>
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+<text text-anchor="middle" x="228" y="-87.5" font-family="Sans" font-size="10.00" fill="#000000">SmoothedInputDevice</text>
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+<polygon fill="black" stroke="black" points="335.406,-143.031 345.962,-143.932 338.271,-136.644 335.406,-143.031"/>
 </g>
 <!-- InputDevice&#45;&gt;GPIODevice -->
 <g id="edge2" class="edge"><title>InputDevice&#45;&gt;GPIODevice</title>
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-<polygon fill="black" stroke="black" points="345.336,-282.273 354.317,-287.896 350.803,-277.901 345.336,-282.273"/>
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+<polygon fill="black" stroke="black" points="435.336,-282.273 444.317,-287.896 440.803,-277.901 435.336,-282.273"/>
 </g>
 <!-- DigitalInputDevice -->
 <g id="node6" class="node"><title>DigitalInputDevice</title>
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-<text text-anchor="middle" x="298" y="-87.5" font-family="Sans" font-size="10.00" fill="#ffffff">DigitalInputDevice</text>
+<polygon fill="#2980b9" stroke="#2980b9" points="439.5,-108 336.5,-108 336.5,-72 439.5,-72 439.5,-108"/>
+<text text-anchor="middle" x="388" y="-87.5" font-family="Sans" font-size="10.00" fill="#ffffff">DigitalInputDevice</text>
 </g>
 <!-- DigitalInputDevice&#45;&gt;WaitableInputDevice -->
 <g id="edge4" class="edge"><title>DigitalInputDevice&#45;&gt;WaitableInputDevice</title>
-<path fill="none" stroke="black" d="M297.011,-108.303C296.57,-116.017 296.041,-125.288 295.549,-133.888"/>
-<polygon fill="black" stroke="black" points="292.054,-133.712 294.977,-143.896 299.042,-134.112 292.054,-133.712"/>
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+<polygon fill="black" stroke="black" points="382.054,-133.712 384.977,-143.896 389.042,-134.112 382.054,-133.712"/>
 </g>
 <!-- Button -->
 <g id="node7" class="node"><title>Button</title>
-<polygon fill="#2980b9" stroke="#2980b9" points="335,-36 281,-36 281,-0 335,-0 335,-36"/>
-<text text-anchor="middle" x="308" y="-15.5" font-family="Sans" font-size="10.00" fill="#ffffff">Button</text>
+<polygon fill="#2980b9" stroke="#2980b9" points="445,-36 391,-36 391,-0 445,-0 445,-36"/>
+<text text-anchor="middle" x="418" y="-15.5" font-family="Sans" font-size="10.00" fill="#ffffff">Button</text>
 </g>
 <!-- Button&#45;&gt;DigitalInputDevice -->
 <g id="edge6" class="edge"><title>Button&#45;&gt;DigitalInputDevice</title>
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-<polygon fill="black" stroke="black" points="298.393,-61.5012 300.443,-71.8957 305.323,-62.4912 298.393,-61.5012"/>
+<path fill="none" stroke="black" d="M410.584,-36.3034C407.206,-44.1868 403.13,-53.6958 399.377,-62.4536"/>
+<polygon fill="black" stroke="black" points="396.053,-61.3255 395.33,-71.8957 402.487,-64.0829 396.053,-61.3255"/>
 </g>
 <!-- MotionSensor -->
 <g id="node8" class="node"><title>MotionSensor</title>
@@ -81,8 +81,8 @@
 </g>
 <!-- MotionSensor&#45;&gt;SmoothedInputDevice -->
 <g id="edge7" class="edge"><title>MotionSensor&#45;&gt;SmoothedInputDevice</title>
-<path fill="none" stroke="black" d="M67.1751,-36.1239C81.0359,-45.1917 98.2414,-56.4477 113.211,-66.2408"/>
-<polygon fill="black" stroke="black" points="111.44,-69.2645 121.724,-71.8102 115.272,-63.4067 111.44,-69.2645"/>
+<path fill="none" stroke="black" d="M82.5014,-34.5353C109.086,-44.4869 143.895,-57.5168 172.8,-68.3368"/>
+<polygon fill="black" stroke="black" points="171.763,-71.6859 182.356,-71.9139 174.217,-65.1302 171.763,-71.6859"/>
 </g>
 <!-- LightSensor -->
 <g id="node9" class="node"><title>LightSensor</title>
@@ -91,8 +91,8 @@
 </g>
 <!-- LightSensor&#45;&gt;SmoothedInputDevice -->
 <g id="edge8" class="edge"><title>LightSensor&#45;&gt;SmoothedInputDevice</title>
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-<polygon fill="black" stroke="black" points="140.677,-62.4912 145.557,-71.8957 147.607,-61.5012 140.677,-62.4912"/>
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+<polygon fill="black" stroke="black" points="195.966,-68.519 206.009,-71.8957 200.264,-62.9935 195.966,-68.519"/>
 </g>
 <!-- LineSensor -->
 <g id="node10" class="node"><title>LineSensor</title>
@@ -101,68 +101,78 @@
 </g>
 <!-- LineSensor&#45;&gt;SmoothedInputDevice -->
 <g id="edge9" class="edge"><title>LineSensor&#45;&gt;SmoothedInputDevice</title>
-<path fill="none" stroke="black" d="M208.225,-36.3034C198.246,-45.0345 185.989,-55.7595 175.143,-65.2497"/>
-<polygon fill="black" stroke="black" points="172.769,-62.6766 167.548,-71.8957 177.378,-67.9446 172.769,-62.6766"/>
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+<polygon fill="black" stroke="black" points="224.5,-61.8956 228,-71.8957 231.5,-61.8957 224.5,-61.8956"/>
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+<!-- DistanceSensor -->
+<g id="node11" class="node"><title>DistanceSensor</title>
+<polygon fill="#2980b9" stroke="#2980b9" points="373,-36 281,-36 281,-0 373,-0 373,-36"/>
+<text text-anchor="middle" x="327" y="-15.5" font-family="Sans" font-size="10.00" fill="#ffffff">DistanceSensor</text>
+</g>
+<!-- DistanceSensor&#45;&gt;SmoothedInputDevice -->
+<g id="edge10" class="edge"><title>DistanceSensor&#45;&gt;SmoothedInputDevice</title>
+<path fill="none" stroke="black" d="M302.782,-36.1239C290.077,-45.1069 274.336,-56.2375 260.577,-65.9659"/>
+<polygon fill="black" stroke="black" points="258.456,-63.1791 252.311,-71.8102 262.497,-68.8947 258.456,-63.1791"/>
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-<text text-anchor="middle" x="425" y="-231.5" font-family="Sans" font-size="10.00" fill="#ffffff">OutputDevice</text>
+<g id="node12" class="node"><title>OutputDevice</title>
+<polygon fill="#2980b9" stroke="#2980b9" points="556,-252 474,-252 474,-216 556,-216 556,-252"/>
+<text text-anchor="middle" x="515" y="-231.5" font-family="Sans" font-size="10.00" fill="#ffffff">OutputDevice</text>
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-<path fill="none" stroke="black" d="M410.91,-252.303C404.077,-260.695 395.743,-270.93 388.244,-280.139"/>
-<polygon fill="black" stroke="black" points="385.528,-277.931 381.928,-287.896 390.956,-282.351 385.528,-277.931"/>
+<g id="edge11" class="edge"><title>OutputDevice&#45;&gt;GPIODevice</title>
+<path fill="none" stroke="black" d="M500.91,-252.303C494.077,-260.695 485.743,-270.93 478.244,-280.139"/>
+<polygon fill="black" stroke="black" points="475.528,-277.931 471.928,-287.896 480.956,-282.351 475.528,-277.931"/>
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-<text text-anchor="middle" x="425" y="-159.5" font-family="Sans" font-size="10.00" fill="#ffffff">DigitalOutputDevice</text>
+<g id="node13" class="node"><title>DigitalOutputDevice</title>
+<polygon fill="#2980b9" stroke="#2980b9" points="571,-180 459,-180 459,-144 571,-144 571,-180"/>
+<text text-anchor="middle" x="515" y="-159.5" font-family="Sans" font-size="10.00" fill="#ffffff">DigitalOutputDevice</text>
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 <!-- DigitalOutputDevice&#45;&gt;OutputDevice -->
-<g id="edge11" class="edge"><title>DigitalOutputDevice&#45;&gt;OutputDevice</title>
-<path fill="none" stroke="black" d="M425,-180.303C425,-188.017 425,-197.288 425,-205.888"/>
-<polygon fill="black" stroke="black" points="421.5,-205.896 425,-215.896 428.5,-205.896 421.5,-205.896"/>
+<g id="edge12" class="edge"><title>DigitalOutputDevice&#45;&gt;OutputDevice</title>
+<path fill="none" stroke="black" d="M515,-180.303C515,-188.017 515,-197.288 515,-205.888"/>
+<polygon fill="black" stroke="black" points="511.5,-205.896 515,-215.896 518.5,-205.896 511.5,-205.896"/>
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-<text text-anchor="middle" x="402" y="-87.5" font-family="Sans" font-size="10.00" fill="#ffffff">LED</text>
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+<text text-anchor="middle" x="492" y="-87.5" font-family="Sans" font-size="10.00" fill="#ffffff">LED</text>
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-<polygon fill="black" stroke="black" points="412.933,-135.488 419.38,-143.896 419.584,-133.303 412.933,-135.488"/>
+<g id="edge13" class="edge"><title>LED&#45;&gt;DigitalOutputDevice</title>
+<path fill="none" stroke="black" d="M497.685,-108.303C500.248,-116.102 503.333,-125.491 506.185,-134.171"/>
+<polygon fill="black" stroke="black" points="502.933,-135.488 509.38,-143.896 509.584,-133.303 502.933,-135.488"/>
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-<text text-anchor="middle" x="474" y="-87.5" font-family="Sans" font-size="10.00" fill="#ffffff">Buzzer</text>
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-<polygon fill="black" stroke="black" points="439.84,-133.696 436.973,-143.896 445.575,-137.71 439.84,-133.696"/>
+<g id="edge14" class="edge"><title>Buzzer&#45;&gt;DigitalOutputDevice</title>
+<path fill="none" stroke="black" d="M551.888,-108.303C546.132,-116.526 539.138,-126.517 532.794,-135.579"/>
+<polygon fill="black" stroke="black" points="529.84,-133.696 526.973,-143.896 535.575,-137.71 529.84,-133.696"/>
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-<text text-anchor="middle" x="551" y="-159.5" font-family="Sans" font-size="10.00" fill="#ffffff">PWMOutputDevice</text>
+<g id="node16" class="node"><title>PWMOutputDevice</title>
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+<text text-anchor="middle" x="641" y="-159.5" font-family="Sans" font-size="10.00" fill="#ffffff">PWMOutputDevice</text>
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-<polygon fill="black" stroke="black" points="462.983,-207.894 455.942,-215.81 466.383,-214.013 462.983,-207.894"/>
+<g id="edge15" class="edge"><title>PWMOutputDevice&#45;&gt;OutputDevice</title>
+<path fill="none" stroke="black" d="M610.177,-180.124C593.55,-189.361 572.835,-200.869 554.981,-210.788"/>
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