From a82f05d4049a2faa4e4f69da6b8f0b106ad60712 Mon Sep 17 00:00:00 2001
From: SZL <zhiyingli@g.ucla.edu>
Date: Sun, 31 Oct 2021 19:58:26 -0700
Subject: [PATCH] Sunday Oct 31st Two Lidars Test - Successful.
remember to download <VL53L1X.h> Library
---
.../Sunday1031_Two_Lidar_Test.ino | 88 +++++++++++++++++++
1 file changed, 88 insertions(+)
create mode 100644 Code/Control/Laptop_Code/Sunday1031_Two_Lidar_Test/Sunday1031_Two_Lidar_Test.ino
diff --git a/Code/Control/Laptop_Code/Sunday1031_Two_Lidar_Test/Sunday1031_Two_Lidar_Test.ino b/Code/Control/Laptop_Code/Sunday1031_Two_Lidar_Test/Sunday1031_Two_Lidar_Test.ino
new file mode 100644
index 0000000..46393d5
--- /dev/null
+++ b/Code/Control/Laptop_Code/Sunday1031_Two_Lidar_Test/Sunday1031_Two_Lidar_Test.ino
@@ -0,0 +1,88 @@
+#include <Wire.h>
+#include <VL53L1X.h>
+
+#define XSHUT_pin1 A7
+#define XSHUT_pin2 A6
+
+
+//ADDRESS_DEFAULT 0b0101001 or 41
+#define Sensor1_newAddress 43
+#define Sensor2_newAddress 45
+
+
+VL53L1X Sensor1;
+VL53L1X Sensor2;
+
+
+void setup()
+{
+
+ pinMode(XSHUT_pin1, OUTPUT);
+ pinMode(XSHUT_pin2, OUTPUT);
+
+
+ Serial.begin(9600);
+
+ Wire.begin();
+ Wire.setClock(100000);
+
+
+ pinMode(XSHUT_pin1, INPUT);
+ if (!Sensor1.init())
+ {
+ Serial.println("Failed to detect and initialize sensor1!");
+ while (1);
+ }
+ delay(10);
+ Sensor1.setAddress(Sensor1_newAddress);
+
+ pinMode(XSHUT_pin2, INPUT);
+ if (!Sensor2.init())
+ {
+ Serial.println("Failed to detect and initialize sensor2!");
+ while (1);
+ }
+ delay(10);
+ Sensor2.setAddress(Sensor2_newAddress);
+
+
+
+
+ Sensor1.setTimeout(500);
+ Sensor2.setTimeout(500);
+
+
+
+ Sensor1.setDistanceMode(VL53L1X::Medium);
+ Sensor1.setMeasurementTimingBudget(33000);
+ Sensor2.setDistanceMode(VL53L1X::Medium);
+ Sensor2.setMeasurementTimingBudget(33000);
+
+}
+
+
+void loop()
+{
+ Sensor1.startContinuous(200);
+ Sensor1.read();
+ Sensor1.stopContinuous();
+ long time1 = millis();
+ Sensor2.startContinuous(200);
+ Sensor2.read();
+ Sensor2.stopContinuous();
+ long time2 = millis();
+
+
+ Serial.print("Sensor 1 Range: ");
+ Serial.print(Sensor1.ranging_data.range_mm);
+ Serial.print(" ");
+ Serial.print("Sensor 2 Range: ");
+ Serial.print(Sensor2.ranging_data.range_mm);
+ Serial.print(" ");
+ Serial.print(" Time between end of 1st and end of 6th messurement: ");
+ Serial.print(time2-time1);
+
+ Serial.println();
+
+ delay(1000);
+}
--
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