diff --git a/src/OBD2.cpp b/src/OBD2.cpp
index 8fd329c..cf4760b 100644
--- a/src/OBD2.cpp
+++ b/src/OBD2.cpp
@@ -795,4 +795,16 @@ int OBD2Class::pidRead(uint8_t mode, uint8_t pid, void* data, int length)
   return 0;
 }
 
+bool OBD2Class::ready()
+{
+  // make sure at least 60 ms have passed since the last response
+  unsigned long lastResponseDelta = millis() - _lastPidResponseMillis;
+
+  if (lastResponseDelta < 60) {
+    return false;
+  }
+
+  return true;
+}
+
 OBD2Class OBD2;
diff --git a/src/OBD2.h b/src/OBD2.h
index 0605763..69a6f97 100644
--- a/src/OBD2.h
+++ b/src/OBD2.h
@@ -133,6 +133,8 @@ class OBD2Class {
 
   int clearAllStoredDTC();
 
+  bool ready();
+
 private:
   int supportedPidsRead();