Intermeasurement period and ROI Release.

examples/Example1_ReadDistance/Example1_ReadDistance.ino

@@ -27,10 +27,13 @@ void setup(void)
 
   if (distanceSensor.begin() == false)
     Serial.println("Sensor offline!");
+
 }
 
 void loop(void)
 {
+  distanceSensor.startMeasurement(); //Write configuration bytes to initiate measurement
+
   //Poll for completion of measurement. Takes 40-50ms.
   while (distanceSensor.newDataReady() == false)
     delay(5);

examples/Example2_SetDistanceMode/Example2_SetDistanceMode.ino

@@ -34,11 +34,13 @@ void setup(void)
     Serial.println("Sensor offline!");
   }
   //Call setDistanceMode with 0, 1, or 2 to change the sensing range.
-  distanceSensor.setDistanceMode(longRange);
+  distanceSensor.setDistanceMode(shortRange);
 }
 
 void loop(void)
 {
+  distanceSensor.startMeasurement(); //Write configuration bytes to initiate measurement
+
   //Poll for completion of measurement. Takes 40-50ms.
   while (distanceSensor.newDataReady() == false)
     delay(5);

examples/Example3_StatusAndRate/Example3_StatusAndRate.ino

@@ -41,6 +41,7 @@ void setup(void)
 void loop(void)
 {
   long startTime = millis();
+  distanceSensor.startMeasurement(); //Write configuration block of 135 bytes to setup a measurement
 
   //Poll for completion of measurement. Takes 40-50ms.
   while (distanceSensor.newDataReady() == false)

examples/Example4_SetIntermeasurementPeriod/Example4_SetIntermeasurementPeriod.ino

@@ -0,0 +1,56 @@
+/*
+  Reading distance from the laser based VL53L1X
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: April 4th, 2018
+  License: This code is public domain but you buy me a beer if you use this and we meet someday (Beerware license).
+
+  SparkFun labored with love to create this code. Feel like supporting open source hardware? 
+  Buy a board from SparkFun! https://www.sparkfun.com/products/14667
+
+  This example prints the distance to an object.
+
+  Are you getting weird readings? Be sure the vacuum tape has been removed from the sensor.
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_VL53L1X_Arduino_Library.h"
+VL53L1X distanceSensor;
+
+void setup(void)
+{
+  Wire.begin();
+
+  Serial.begin(9600);
+  Serial.println("VL53L1X Qwiic Test");
+
+  if (distanceSensor.begin() == false)
+    Serial.println("Sensor offline!");
+
+  distanceSensor.setIntermeasurementPeriod(40);
+  Serial.println(distanceSensor.getIntermeasurementPeriod());
+}
+
+void loop(void)
+{
+  distanceSensor.startMeasurement(); //Write configuration bytes to initiate measurement
+
+  //Poll for completion of measurement. Takes 40-50ms.
+  while (distanceSensor.newDataReady() == false)
+    delay(5);
+
+  int distance = distanceSensor.getDistance(); //Get the result of the measurement from the sensor
+
+  Serial.print("Distance(mm): ");
+  Serial.print(distance);
+
+  float distanceInches = distance * 0.0393701;
+  float distanceFeet = distanceInches / 12.0;
+
+  Serial.print("\tDistance(ft): ");
+  Serial.print(distanceFeet, 2);
+
+  Serial.println();
+}
+

examples/Example5_LCDDemo/Example5_LCDDemo.ino

@@ -0,0 +1,189 @@
+/*
+  Reading distance from the laser based VL53L1X
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: April 4th, 2018
+  License: This code is public domain but you buy me a beer if you use this and we meet someday (Beerware license).
+
+  SparkFun labored with love to create this code. Feel like supporting open source hardware? 
+  Buy a board from SparkFun! https://www.sparkfun.com/products/14667
+
+  Reading distance and outputting the distance and speed to a SerLCD.
+  This is based on the Speed Trap project: https://www.youtube.com/watch?v=uC9CkhJiIaQ
+
+  Are you getting weird readings? Make sure the vacuum tape has been removed.
+
+*/
+#include <Wire.h>
+
+#include "SparkFun_VL53L1X_Arduino_Library.h"
+VL53L1X distanceSensor;
+
+#include <SoftwareSerial.h>
+
+SoftwareSerial lcd(10, A3); // RX, TX
+
+//Store distance readings to get rolling average
+#define HISTORY_SIZE 8
+int history[HISTORY_SIZE];
+byte historySpot;
+
+long lastReading = 0;
+long lastDistance = 0;
+float newDistance;
+int maxDistance = 0;
+
+const byte numberOfDeltas = 8;
+float deltas[numberOfDeltas];
+byte deltaSpot = 0; //Keeps track of where we are within the deltas array
+
+//This controls how quickly the display updates
+//Too quickly and it gets twitchy. Too slow and it doesn't seem like it's responding.
+#define LOOPTIME 50
+
+int maxMPH = 0; //Keeps track of what the latest fastest speed is
+long maxMPH_timeout = 0; //Forget the max speed after some length of time
+
+#define maxMPH_remember 3000 //After this number of ms the system will forget the max speed
+
+boolean readingValid = false;
+long validCount = 0;
+
+void setup(void)
+{
+  Wire.begin();
+  Wire.setClock(400000);
+
+  Serial.begin(115200);
+  Serial.println("VL53L1X Qwiic Test");
+
+  lcd.begin(9600);
+
+  lcd.write(254); //Move cursor to beginning of first line
+  lcd.write(128);
+  lcd.print("Distance: 3426  ");
+  lcd.print("12 mph          ");
+
+  if (distanceSensor.begin() == false)
+  {
+    Serial.println("Sensor offline!");
+  }
+
+  for (int x = 0 ; x < HISTORY_SIZE ; x++)
+    history[x] = 0;
+}
+
+void loop(void)
+{
+
+  //Write configuration block of 135 bytes to setup a measurement
+  distanceSensor.startMeasurement();
+
+  //Poll for completion of measurement. Takes 40-50ms.
+  while (distanceSensor.newDataReady() == false)
+    delay(5);
+
+  int distanceMM = distanceSensor.getDistance();
+
+  lastReading = millis();
+
+  history[historySpot] = distanceMM;
+  if (historySpot++ == HISTORY_SIZE) historySpot = 0;
+
+  long avgDistance = 0;
+  for (int x = 0 ; x < HISTORY_SIZE ; x++)
+    avgDistance += history[x];
+
+  avgDistance /= HISTORY_SIZE;
+
+
+  //Every loop let's get a reading
+  newDistance = distanceMM / 10; //Go get distance in cm
+
+  int deltaDistance = lastDistance - newDistance;
+  lastDistance = newDistance;
+
+  //Scan delta array to see if this new delta is sane or not
+  boolean safeDelta = true;
+  for (int x = 0 ; x < numberOfDeltas ; x++)
+  {
+    //We don't want to register jumps greater than 30cm in 50ms
+    //But if we're less than 1000cm then maybe
+    //30 works well
+    if ( abs(deltaDistance - deltas[x]) > 40) safeDelta = false;
+  }
+
+  //Insert this new delta into the array
+  if (safeDelta)
+  {
+    deltas[deltaSpot++] = deltaDistance;
+    if (deltaSpot > numberOfDeltas) deltaSpot = 0; //Wrap this variable
+  }
+
+  //Get average of the current deltas array
+  float avgDeltas = 0.0;
+  for (byte x = 0 ; x < numberOfDeltas ; x++)
+    avgDeltas += (float)deltas[x];
+  avgDeltas /= numberOfDeltas;
+
+  //22.36936 comes from a big coversion from cm per 50ms to mile per hour
+  float instantMPH = 22.36936 * (float)avgDeltas / (float)LOOPTIME;
+
+  instantMPH = abs(instantMPH); //We want to measure as you walk away
+
+  ceil(instantMPH); //Round up to the next number. This is helpful if we're not displaying decimals.
+
+  if (instantMPH > maxMPH)
+  {
+    maxMPH = instantMPH;
+    maxMPH_timeout = millis();
+  }
+
+  if (millis() - maxMPH_timeout > maxMPH_remember)
+  {
+    maxMPH = 0;
+  }
+
+  int signalRate = distanceSensor.getSignalRate();
+  if (signalRate < 10)
+  {
+    readingValid = false;
+    validCount = 0;
+  }
+  else
+  {
+    validCount++;
+    if (avgDistance > maxDistance) maxDistance = avgDistance;
+  }
+
+  if (validCount > 10) readingValid = true;
+
+  if (readingValid == false)
+  {
+    instantMPH = 0;
+    avgDistance = 0;
+  }
+
+  //Convert mm per millisecond to miles per hour
+  //float mph = distanceDelta * 2.236936 / (float)timeDelta;
+  //mph *= -1; //Flip sign as we will be traveling towards sensor, decreasing the distance
+
+  lcd.write(254); //Move cursor
+  lcd.write(138);
+  lcd.print("    ");
+  lcd.write(254); //Move cursor
+  lcd.write(138);
+
+  if (readingValid == true)
+    lcd.print(avgDistance);
+  else
+    lcd.print(maxDistance);
+
+  lcd.write(254); //Move cursor
+  lcd.write(192);
+  lcd.print(instantMPH, 0);
+  lcd.print(" mph  ");
+
+  delay(25);
+}
+

examples/Example6_Calibration/Example6_Calibration.ino

@@ -0,0 +1,69 @@
+/*
+  Reading distance from the laser based VL53L1X
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: April 4th, 2018
+  License: This code is public domain but you buy me a beer if you use this and we meet someday (Beerware license).
+
+  SparkFun labored with love to create this code. Feel like supporting open source hardware? 
+  Buy a board from SparkFun! https://www.sparkfun.com/products/14667
+
+  This example prints the distance to an object.
+
+  Are you getting weird readings? Be sure the vacuum tape has been removed from the sensor.
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_VL53L1X_Arduino_Library.h"
+VL53L1X distanceSensor;
+
+uint8_t incoming;
+void setup(void)
+{
+  Wire.begin();
+
+  Serial.begin(9600);
+  Serial.println("VL53L1X Qwiic Test");
+
+  if (distanceSensor.begin() == false)
+    Serial.println("Sensor offline!");
+
+}
+
+uint8_t OFFSET_MM = 140;
+
+void loop(void)
+{
+  distanceSensor.startMeasurement(); //Write configuration bytes to initiate measurement
+
+  //Poll for completion of measurement. Takes 40-50ms.
+  while (distanceSensor.newDataReady() == false)
+  delay(5);
+
+  while (incoming != 'c')
+  {
+    Serial.print("Calibrating, current offset is ");
+    Serial.print(distanceSensor.calibrateOffset(OFFSET_MM));
+    Serial.println(" mm");
+    if(Serial.available())
+    {
+      incoming = Serial.read();
+    }
+  };
+  Serial.print("Calibrated");
+
+  int distance = distanceSensor.getCalibratedDistance(); //Get the result of the measurement from the sensor
+
+  Serial.print("DistanceCal(mm): ");
+  Serial.print(distance);
+
+  float distanceInches = distance * 0.0393701;
+  float distanceFeet = distanceInches / 12.0;
+
+  Serial.print("\tDistance(ft): ");
+  Serial.print(distanceFeet, 2);
+
+  Serial.println();
+}
+

keywords.txt

@@ -23,6 +23,14 @@ getRangeStatus		 KEYWORD2
 setDistanceMode		 KEYWORD2
 getDistanceMode		 KEYWORD2
 
+setIntermeasurementPeriod KEYWORD2
+getIntermeasurementPeriod KEYWORD2
+
+setUserRoi			 KEYWORD2
+setCenter			 KEYWORD2
+setZoneSize			 KEYWORD2
+getUserRoi			 KEYWORD2
+
 readRegister		 KEYWORD2
 readRegister16		 KEYWORD2
 writeRegister		 KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun VL53L1X 4m Laser Distance Sensor
-version=1.0.5
+version=1.0.6
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for the SparkFun Qwiic 4m Distance Sensor - VL53L1X