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Lesson 77: Using VL53L0X 200cm Laser Distance sensors with Arduino

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Please download required files for this code

Part 8: Obstacle Avoidance with Arduino

In this lesson we learn how to use one VL53L0X 200cm laser ToF (Time of Flight) distance sensor using Arduino. the module is explained, wiring is explained. Code is fully explained and demonstrated. This code is for two sensor.

 *  S08-08 VL53L0X
* Lesson 77-1: Using One single VL53L0X Laser  Distance Sensor with Arduino  
 *  This example shows how to use continuous mode to take
range measurements with the VL53L0X. It is based on
vl53l0x_ContinuousRanging_Example.c from the VL53L0X API.

The range readings are in units of mm. 
Please watch video instruciton of this code :
View code for using two or more VL6180X sensors:

  This video is part of Arduino Step by Step Course which starts here:


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 * This code is "AS IS" without warranty or liability. Free to be used as long as you keep this note intact.* 
 * This code has been download from
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <>. 
Original source:
Modefied by Ahmad Shamshiri for
Date modefied: May 31, 2018 at 19:25 at Ajax, Ontario, Canada

Pin connection

VL53L0X Pin  Arduino Pin
VCC         5V
GND         GND
SDA         A4 or SDA if available
SCL         A5 or SCL if available
GPIO1       leave it unconnected
XSHUT       D12 (digital 12 or pin 12)

#include <Wire.h>
#include <VL53L0X.h>

VL53L0X sensor;

void setup()


  // Start continuous back-to-back mode (take readings as
  // fast as possible).  To use continuous timed mode
  // instead, provide a desired inter-measurement period in
  // ms (e.g. sensor.startContinuous(100)).

void loop()
  int distance =sensor.readRangeContinuousMillimeters();
  //int distance =sensor.startContinuous(100);
 //distance = distance;
  Serial.print("Distance: ");
  if (sensor.timeoutOccurred()) { Serial.print(" TIMEOUT"); }



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