From f3a02c8db376597ccad6bbca690897e6ab9b5d4b Mon Sep 17 00:00:00 2001
From: rudi <rudi.klein@rudiklein.nl>
Date: Sun, 12 Jan 2025 17:36:19 +0100
Subject: [PATCH] added all the code to use the new laser sensor. Its like 5
 lines of code.

---
 Examples/Adafruit_Servokit_servo_driver.py |  8 ++------
 control_functions.py                       | 18 +++++++++++-------
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/Examples/Adafruit_Servokit_servo_driver.py b/Examples/Adafruit_Servokit_servo_driver.py
index e6e6e3e..b4aa024 100644
--- a/Examples/Adafruit_Servokit_servo_driver.py
+++ b/Examples/Adafruit_Servokit_servo_driver.py
@@ -20,12 +20,8 @@ kit.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
 # property angle: float | None
 # The servo angle in degrees. Must be in the range 0 to actuation_range.
 # Is None when servo is disabled.
-while True:
-    kit.servo[0].angle = 110
-    sleep(1)
-    kit.servo[0].angle = 90
-    sleep(0.1)
-    print("test")
+
+kit.servo[0].angle = 90
 
 
 
diff --git a/control_functions.py b/control_functions.py
index faa60c3..c45c40e 100644
--- a/control_functions.py
+++ b/control_functions.py
@@ -1,5 +1,3 @@
-from csv import excel
-
 from adafruit_hcsr04 import HCSR04 as hcsr04        # Ultrasound sensor
 import board                                        # General board pin mapper
 from adafruit_servokit import ServoKit              # Servo libraries for PWM driver board
@@ -8,10 +6,15 @@ from adafruit_pcf8591.analog_in import AnalogIn     # Analogue in pin library
 from adafruit_pcf8591.analog_out import AnalogOut   # Analogue out pin library
 import statistics as st                             # Mean and median calculations
 import csv                                          # CSV handling
-from datetime import datetime                       # Date and time formatting
 from time import sleep                              # Sleep/pause
 import pandas as pd
 from datetime import datetime
+import busio
+import adafruit_vl6180x
+
+# laser sensor controls.
+i2c = busio.I2C(board.SCL, board.SDA)
+laser = adafruit_vl6180x.VL6180X(i2c)
 
 # Variables to control sensor
 TRIGGER_PIN = board.D4      # GPIO pin xx
@@ -29,10 +32,10 @@ OFFSET: int = -1
 KIT.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
 
 # Variables to control logging.
-LOG: bool   = True         # Log data to files
+LOG: bool   = True          # Log data to files
 SCREEN: bool = True         # Log data to screen
 DEBUG: bool = False         # More data to display
-TWIN_MODE: bool = False
+TWIN_MODE: bool = False     # Run in live or twin mode
 
 # Control the number of samples for single distance measurement (average from burst)
 MAX_SAMPLES: int = 1
@@ -114,7 +117,9 @@ def read_distance_sensor():
         while samples != max_samples:
             sleep(RUN_TIMEOUT)
             try:
-                distance: float = sonar.distance
+                distance: float = sonar.distance # reading distance from the sonic sensor
+                # distance: float = laser.range * 10 # reading distance from the laser sensor
+
                 if MIN_DISTANCE < distance < MAX_DISTANCE:
 
                     log_data(data_file="sensor", data_line=str(distance), remark="") if LOG else None
@@ -334,7 +339,6 @@ def servo_slower():
 
     return servo_angle
 
-
 try:
     with open("pid-balancer_" + "time_file.txt", "w") as time_file:
         time_file.write(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3])