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Lesson 82: Using VL53L1X 400cm Laser Distance sensors with LCD

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Part 8: Obstacle Avoidance with Arduino

In this lesson we learn how to use VL53L1X 400cm laser ToF (Time of Flight) distance sensor using Arduino. We will display the distance on the LCD1602 LCD display. the module is explained, wiring diagram shown and wiring is explained. Code is fully explained and demonstrated. this code is for single sensor.


 /* 
*
* Lesson 82: Using VL53L1X 400cm Laser Distance Sensor LCD with Arduino  
Watch full video details of this code https://youtu.be/Lt-Zhm_XY38

 Library used: http://librarymanager/All#SparkFun_VL53L1X

 * This Arduin sketch display distnace using VL53L1X distance sensor on LCD1602 or LCD2004 with I2C module (4 wires)
 * 
The distance is can be selected to ba in "mm", "inches", "feet", "cm" and "meter"


 * Written by Ahmad Shamshiri on Jun 18, 2020 in Ajax, Ontario, Canada
 * in Ajax, Ontario, Canada. www.robojax.com
 * 

  This video is part of Arduino Step by Step Course which starts here: https://youtu.be/-6qSrDUA5a8

 

If you found this tutorial helpful, please support me so I can continue creating 
content like this. You can support me on Patreon http://robojax.com/L/?id=63

or make donation using PayPal http://robojax.com/L/?id=64
  
 * 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 Robojax.com
    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
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    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 <https://www.gnu.org/licenses/>.

 VL53L1X distance reading from Sparkfun https://github.com/sparkfun/SparkFun_VL53L1X_Arduino_Library
  *   Reading distance from the laser based VL53L1X
  By: Nathan Seidle
  Revised by: Andy England
  SparkFun Electronics
  Date: April 4th, 2018

*/
#include  
#include 

// Set the LCD address to 0x27 for a 16 chars and 2 line display


const uint8_t I2C_ADDRESS =0x27;
const uint8_t LCD_CHAR= 16;
const uint8_t LCD_ROW= 2;
LiquidCrystal_I2C lcd(I2C_ADDRESS, LCD_CHAR,LCD_ROW);

#include "SparkFun_VL53L1X.h" //Click here to get the library: http://librarymanager/All#SparkFun_VL53L1X

//Optional interrupt and shutdown pins.
#define SHUTDOWN_PIN 2
#define INTERRUPT_PIN 3

SFEVL53L1X distanceSensor;
//Uncomment the following line to use the optional shutdown and interrupt pins.
//SFEVL53L1X distanceSensor(Wire, SHUTDOWN_PIN, INTERRUPT_PIN);

int distance=0;
void setup()
{
	Wire.begin();
	lcd.begin();

	// Turn on the blacklight and print a message.
	lcd.backlight();


   if (distanceSensor.begin() != 0) //Begin returns 0 on a good init
  {
      lcd.print("Sensor failed");
      lcd.setCursor(0,1);
      lcd.print("check wiring!");      
    while (1)
      ;
  }

   //distanceSensor.setDistanceModeShort();
  distanceSensor.setDistanceModeLong();
      lcd.print("Robojax VL53L1X");
      lcd.setCursor(0,1);
      lcd.print("Mode: Medium"); 
      //lcd.print("Mode: Long");          
      delay(2000);       
      clearCharacters(LCD_ROW-1,0, LCD_CHAR-1);
      lcd.setCursor(0,1);
      lcd.print("Distance: ");         

}//setup() end



void loop()
{
  getDistance();
	printDistance('m');

  // if distance is greator thatn 185mm do something
  if(distance >185)
  {
    // somethig here
  }
 delay(300);
}




/*
 * getDistance()
 * displays gets the distance for VL53L1X laser sensor
 * updates the "distance" variable with distance in mm
 * 
 */
int getDistance()
{
  distanceSensor.startRanging(); //Write configuration bytes to initiate measurement

  while (!distanceSensor.checkForDataReady())
  {
    delay(1);
  }
  distance = distanceSensor.getDistance(); //Get the result of the measurement from the sensor
  distanceSensor.clearInterrupt();

  distanceSensor.stopRanging();
  
}//getDistance()  end


/*
 * printDistance(char unit)
 * displays value and title on LCD1602
 * How to use:
 * printDistance('m');

 */
void printDistance(char unit)
{
   // Robojax.com LCD1602 for VL53L1X d
  float distanceInches = distance * 0.0393701;
  float distanceFeet = distanceInches / 12.0;
  float distanceMeter = distance/1000.00;
  float distanceCm= distance/10.00;

  
   clearCharacters(1,9, LCD_CHAR-1 );
   lcd.setCursor (9,1); //
   if(unit =='i')
   {
    lcd.print(distanceInches);    
    lcd.print("in");
    
   }
   if(unit =='m')
   {
    lcd.print(distance);    
    lcd.print("mm");
    
   }
   if(unit =='f')
   {
    lcd.print(distanceFeet);    
    lcd.print("ft");
   }
   if(unit =='c')
   {
    lcd.print(distanceCm);    
    lcd.print("cm");
   }  
   if(unit =='a')
   {
    lcd.print(distanceMeter);    
    lcd.print("m");
   }         
 // Robojax.com LCD1602 for LM35 Demo
}  

/*
   clearCharacters(uint8_t row,uint8_t start, uint8_t stop)
 * @brief clears a line of display (erases all characters)
 * @param none
 * @return does not return anything
 * Written by Ahmad Shamshiri
 * www.Robojax.com code May 28, 2020 at 16:21 in Ajax, Ontario, Canada
 */
void clearCharacters(uint8_t row,uint8_t start, uint8_t stop )
{
    for (int i=start; i<=stop; i++)
    {
    lcd.setCursor (i,row); //  
    lcd.write(254);
    } 

}//clearCharacters


   

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