Best way to get data from sensors if arduino is slave?

Projects Networking, Protocols, and Devices
1

Im working on a project where i have motor controller(arduino nano) being i2c slave. Its job is to get RF24 data and control motor and at same time send data to master about motor... Currently i have 2 ultrasonic sensors for distance sensing and if they are too close it will stop motor. I want to add 2-4 more but it adds a lot of delay because of pulseIn(); command. I want to use attiny as sensor reader and just dump current data when requested.

Is it possible for arduino nano to be i2c slave (hardware i2c) and at same time i2c master (software i2c/please library without using timers... im short on them) or there is way to dump data in less than 2ms via serial or some other protocol? SPI is already used for RF24 and i need RF24 to be up all the time.

2

but it adds a lot of delay because of
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pulseIn();

command.

pulseIn() is a function, not a command.

The NewPing library uses interrupts, not blocking functions like pulseIn() to read ping sensors.