Using two or more VL6180X 20cm Time-of-Flight proximity sensor with Arduino

Project Video
Project Details

This is the Arduino code for using two more m= VL6180X proximity sensors with 20cm range. Sensor explaiend in this video, wiring shown for 1 sensor and for 2 or
more sensor. Adafruit Library is used. Code updated to be used easity with for real application for 1 sensor or 2 or more sensors.

Using single VL6080X Distance Proximity Sensor code is here

Chapters of this video

  • 00:56 Introduction
  • 04:30 VL6080V Datasheet viewed
  • 06:58 Wiring shown
  • 07:32 Wiring for two or more sensors
  • 09:22 Installing library
  • 10:30 Arduino code explained (1 sensor)
  • 12:57 Code for 2 or more sensors
  • 19:35 Demonstration 1 sensor
  • 22:05 Demonstration with 2 sensors
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Project Code


 /*
 *  Arduino code 
Using two or more VL6180X 20cm Time-of-Flight proximity sensor with Arduino

View code for using single VL6180X sensors: https://robojax.com/learn/arduino/?vid=robojax_VL6180X_laser

 * Original code and library by https://github.com/adafruit/Adafruit_VL6180X
 * 
 * Written/updated by Ahmad Shamshiri for Robojax Robojax.com
 * on Mar 12, 2021  in Ajax, Ontario, Canada
 Watch the video instruction for this sketch: https://youtu.be/_H9D0czQpSI
 


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

* 
 * Code is available at http://robojax.com/learn/arduino

 * 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 . 

*/

#include 

// address we will assign if dual sensor is present
#define LOX1_ADDRESS 0x30
#define LOX2_ADDRESS 0x31



// set the pins to shutdown
#define SHT_LOX1 7
#define SHT_LOX2 6


// Optional define GPIO pins to check to see if complete
#define GPIO_LOX1 4
#define GPIO_LOX2 3


#define TIMING_PIN 13

// objects for the VL6180X
Adafruit_VL6180X lox1 = Adafruit_VL6180X();
Adafruit_VL6180X lox2 = Adafruit_VL6180X();


// Setup mode for doing reads
typedef enum {RUN_MODE_DEFAULT, RUN_MODE_TIMED, RUN_MODE_ASYNC, RUN_MODE_GPIO, RUN_MODE_CONT} runmode_t;

runmode_t run_mode = RUN_MODE_DEFAULT;
uint8_t show_command_list = 1;

//==========================================================================
// Define some globals used in the continuous range mode
// Note: going to start table drive this part, may back up and do the rest later
Adafruit_VL6180X *sensors[] = {&lox1, &lox2};
const uint8_t COUNT_SENSORS = sizeof(sensors) / sizeof(sensors[0]);
const int sensor_gpios[COUNT_SENSORS] = {GPIO_LOX1, GPIO_LOX2}; // if any are < 0 will poll instead
uint8_t  tempRange;
uint8_t         sensor_ranges[COUNT_SENSORS];
uint8_t         sensor_status[COUNT_SENSORS];
// Could do with uint8_t for 8 sensors, but just in case...
const uint16_t  ALL_SENSORS_PENDING = ((1 << COUNT_SENSORS) - 1);
uint16_t        sensors_pending = ALL_SENSORS_PENDING;
uint32_t        sensor_last_cycle_time;


/*
    Reset all sensors by setting all of their XSHUT pins low for delay(10), then set all XSHUT high to bring out of reset
    Keep sensor #1 awake by keeping XSHUT pin high
    Put all other sensors into shutdown by pulling XSHUT pins low
    Initialize sensor #1 with lox.begin(new_i2c_address) Pick any number but 0x29 and it must be under 0x7F. Going with 0x30 to 0x3F is probably OK.
    Keep sensor #1 awake, and now bring sensor #2 out of reset by setting its XSHUT pin high.
    Initialize sensor #2 with lox.begin(new_i2c_address) Pick any number but 0x29 and whatever you set the first sensor to
*/
void setID() {
  // all reset
  digitalWrite(SHT_LOX1, LOW);
  digitalWrite(SHT_LOX2, LOW);

  delay(10);

  // all unreset
  digitalWrite(SHT_LOX1, HIGH);
  digitalWrite(SHT_LOX2, HIGH);

  delay(10);

  // activating LOX1 and reseting LOX2
  digitalWrite(SHT_LOX1, HIGH);
  digitalWrite(SHT_LOX2, LOW);


  // initing LOX1
  if (!lox1.begin()) {
    Serial.println(F("Failed to boot first VL6180X"));
    while (1);
  }
  lox1.setAddress(LOX1_ADDRESS);
  delay(10);

  // activating LOX2
  digitalWrite(SHT_LOX2, HIGH);
  delay(10);

  //initing LOX2
  if (!lox2.begin()) {
    Serial.println(F("Failed to boot second VL6180X"));
    while (1);
  }
  lox2.setAddress(LOX2_ADDRESS);
  delay(10);

 
}

void readSensor(Adafruit_VL6180X &vl) {

  float lux = vl.readLux(VL6180X_ALS_GAIN_5);

  uint8_t range = vl.readRange();

  uint8_t status = vl.readRangeStatus();

  if (status == VL6180X_ERROR_NONE) {
      tempRange = range;//save it for the moment
  }

  // Some error occurred, print it out!

  if  ((status >= VL6180X_ERROR_SYSERR_1) && (status <= VL6180X_ERROR_SYSERR_5)) {
    Serial.print("(System error)");
  }
  else if (status == VL6180X_ERROR_ECEFAIL) {
    Serial.print("(ECE failure)");
  }
  else if (status == VL6180X_ERROR_NOCONVERGE) {
    Serial.print("(No convergence)");
  }
  else if (status == VL6180X_ERROR_RANGEIGNORE) {
    Serial.print("(Ignoring range)");
  }
  else if (status == VL6180X_ERROR_SNR) {
    Serial.print("Signal/Noise error");
  }
  else if (status == VL6180X_ERROR_RAWUFLOW) {
    Serial.print("Raw reading underflow");
  }
  else if (status == VL6180X_ERROR_RAWOFLOW) {
    Serial.print("Raw reading overflow");
  }
  else if (status == VL6180X_ERROR_RANGEUFLOW) {
    Serial.print("Range reading underflow");
  }
  else if (status == VL6180X_ERROR_RANGEOFLOW) {
    Serial.print("Range reading overflow");
  }
}

void read_sensors() {
  readSensor(lox1);
  sensor_ranges[0]=tempRange;//save it now

  readSensor(lox2);
  sensor_ranges[1]=tempRange; //save it now 

  Serial.println();
}





//===============================================================
// Setup
//===============================================================
void setup() {
  Serial.begin(115200);

  // wait until serial port opens for native USB devices
  while (! Serial) {
    delay(1);
  }

  pinMode(SHT_LOX1, OUTPUT);
  pinMode(SHT_LOX2, OUTPUT);


  // Enable timing pin so easy to see when pass starts and ends
  pinMode(TIMING_PIN, OUTPUT);

#ifdef GPIO_LOX1
  // If we defined GPIO pins, enable them as PULL UP
  pinMode(GPIO_LOX1, INPUT_PULLUP);
  pinMode(GPIO_LOX2, INPUT_PULLUP);

#endif

  Serial.println("Shutdown pins inited...");

  digitalWrite(SHT_LOX1, LOW);
  digitalWrite(SHT_LOX2, LOW);

  digitalWrite(TIMING_PIN, LOW);
  Serial.println("All in reset mode...(pins are low)");


  Serial.println("Starting...");
  setID();

}

//===============================================================
// Loop
//===============================================================
void loop() {
 read_sensors();
      for(int i=0; i=76)
//      {
//        //do something here
//      }
  delay(100);
}
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