SketchLidarSonar.ino

#include <Wire.h>
#define    LIDARLite_ADDRESS   0x62          // Default I2C Address of LIDAR-Lite.
#define    RegisterMeasure     0x00          // Register to write to initiate ranging.
#define    MeasureValue        0x04          // Value to initiate ranging.
#define    RegisterHighLowB    0x8f          // Register to get both High and Low bytes in 1 call.

int reading = 0;

// the setup function runs once when you press reset or power the board
void setup() {
  Wire.begin();
  // initialize digital pin 13 as an output.
  pinMode(13, OUTPUT);
  pinMode(7, INPUT);
  Serial.begin(9600);
}

// the loop function runs over and over again forever
void loop() {
  Wire.beginTransmission((int)LIDARLite_ADDRESS);
  Wire.write((int)RegisterMeasure);
  Wire.write((int)MeasureValue);
  Wire.endTransmission();

  delay(20);

  Wire.beginTransmission((int)LIDARLite_ADDRESS);
  Wire.write((int)RegisterHighLowB);
  Wire.endTransmission();

  delay(20);

  Wire.requestFrom((int)LIDARLite_ADDRESS,2);

  if(2 <= Wire.available()){
    reading = Wire.read();
    reading = reading << 8;
    reading |= Wire.read();
    Serial.print("laser-cm:");
    Serial.println(reading);
  }
  
  int sensorValue = analogRead(A1);
  int ainches = sensorValue/2;
  float voltage = sensorValue * (5.0 / 1023.0);
  
  long pulse = pulseIn(7, HIGH);
  long inches = pulse/147;
  
  Serial.print("sonar-pw-inches:");
  Serial.println(inches);
  
  
  Serial.print("sonar-a-inches:");
  Serial.println(ainches);
  //Serial.print("avolts:");
  //Serial.println(voltage);
  
  delay(1000);
}