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/* This example shows how to get single-shot range
measurements from the VL53L0X. The sensor can optionally be
configured with different ranging profiles, as described in
the VL53L0X API user manual, to get better performance for
a certain application. This code is based on the four
"SingleRanging" examples in the VL53L0X API.
The range readings are in units of mm. */
/*
LiquidCrystal Library
Demonstrates the use a 16x2 LCD display. The LiquidCrystal
library works with all LCD displays that are compatible with the
Hitachi HD44780 driver. There are many of them out there, and you
can usually tell them by the 16-pin interface.
This sketch prints "Hello World!" to the LCD
and shows the time.
The circuit:
* LCD RS pin to digital pin 12
* LCD Enable pin to digital pin 11
* LCD D4 pin to digital pin 5
* LCD D5 pin to digital pin 4
* LCD D6 pin to digital pin 3
* LCD D7 pin to digital pin 2
* LCD R/W pin to ground
* LCD VSS pin to ground
* LCD VCC pin to 5V
* 10K resistor:
* ends to +5V and ground
* wiper to LCD VO pin (pin 3)
Library originally added 18 Apr 2008
by David A. Mellis
library modified 5 Jul 2009
example added 9 Jul 2009
by Tom Igoe
modified 22 Nov 2010
by Tom Igoe
This example code is in the public domain.
http://www.arduino.cc/en/Tutorial/LiquidCrystal
*/
#include <Wire.h>
#include <VL53L0X.h>
#include <LiquidCrystal.h>
#define LED 7
LiquidCrystal lcd(12, 11, 5, 4, 3, 2);// initialize the library with the numbers of the interface pins
VL53L0X sensor;
int t = 0;
int spd = 0;
int distance;
int updistance;
/*int rectification;
int rectification1;
//int table[28] = {}; 3cm~31cm*/
// Uncomment this line to use long range mode. This
// increases the sensitivity of the sensor and extends its
// potential range, but increases the likelihood of getting
// an inaccurate reading because of reflections from objects
// other than the intended target. It works best in dark
// conditions.
//#define LONG_RANGE
// Uncomment ONE of these two lines to get
// - higher speed at the cost of lower accuracy OR
// - higher accuracy at the cost of lower speed
//#define HIGH_SPEED
#define HIGH_ACCURACY
void setup()
{
pinMode(LED,OUTPUT);
Serial.begin(9600);
Wire.begin();
sensor.init();
sensor.setTimeout(500);
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
#if defined LONG_RANGE
// lower the return signal rate limit (default is 0.25 MCPS)
sensor.setSignalRateLimit(0.1);
// increase laser pulse periods (defaults are 14 and 10 PCLKs)
sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange, 18);
sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange, 14);
#endif
#if defined HIGH_SPEED
// reduce timing budget to 20 ms (default is about 33 ms)
sensor.setMeasurementTimingBudget(20000);
#elif defined HIGH_ACCURACY
// increase timing budget to 200 ms
sensor.setMeasurementTimingBudget(200000);
#endif
lcd.clear();//clear lcd
lcd.setCursor(0, 0);//get location （it is ok outside screen）0-15 inside screen
lcd.print(" AHU XIN GE");
lcd.setCursor(0, 1);//get location （it is ok outside screen）0-15 inside screen
lcd.print("distance sensor");
delay(6000);
}
void loop()
{
//********************************************************************get distance start***************************************************************
updistance = distance;
distance = sensor.readRangeSingleMillimeters();//get distance
//********************************************************************get distance end********************************************************************
//********************************************************************distance rectify & LED start**************************************************************
distance = distance-32;
if(distance >= 21 && distance <= 55)
{
distance = distance* 0.6050 + 13.3228 ;//matlab a = 0.6050 b = 13.3228
digitalWrite(LED,!digitalRead(LED));
}
else if(distance > 55 && distance <= 276)
{
distance = distance*1.0312 - 7.2051;// 1.0312 -7.2051
digitalWrite(LED,LOW);//LED turn off
}
else if(distance >= 277 && distance <= 295)
{
distance = distance* 1.0436 -8.0835 ;//matlab a = 1.0436 b = -8.0835
digitalWrite(LED,!digitalRead(LED));//led twinkle
}
else
{
digitalWrite(LED,HIGH);//LED turn on
}
//distance = distance*1.0296 - 6.8681;//matlab a = 1.0296 ,b = -6.8681
//********************************************************************distance rectify & LED end**************************************************************
//********************************************************************show distance start***************************************************************
lcd.clear();//clear lcd
lcd.setCursor(0, 0);//get location （it is ok outside screen）0-15 inside screen
lcd.print("distance:");
lcd.print(distance);
lcd.setCursor(14, 0);
lcd.print("mm");
Serial.print("Distance: ");
Serial.print(distance);
Serial.print("mm");
if (sensor.timeoutOccurred())
{
Serial.print(" TIMEOUT");
lcd.print("TIMEOUT");
}
Serial.print("\t");
//********************************************************************show distance end****************************************************************
//********************************************************************show times start***************************************************************
lcd.setCursor(0, 1);//get location （it is ok outside screen）0-15 inside screen
lcd.print("T:");
lcd.print(t);
t++;
if(t == 1000)
{
t = 0;
}
//********************************************************************show times end***************************************************************
//********************************************************************show speed start***************************************************************
spd = (updistance - distance)/0.213;
lcd.setCursor(6, 1);
lcd.print("V:");
lcd.print(spd);
lcd.setCursor(12, 1);
lcd.print("mm/s");
Serial.print(" ");
Serial.print("speed:");
Serial.print(spd);
Serial.print("mm/s \n");
//********************************************************************show speed end***************************************************************
}

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