mrm-lid1.h

#pragma once
#include "Arduino.h"
#include <Wire.h>
#include "vl53l0x_api.h"
 
#define MAX_VL53L0XS 12 // Maximum number of sensors. 
#define SAMPLE_COUNT_AVG 0 // Sample count for averages measurement - it takes a lot of memory if not 0!
 
typedef void(*ArgumenlessFunction)();
typedef bool(*BreakCondition)();
 
class VL53L0Xs
{
#if SAMPLE_COUNT_AVG > 0
    uint16_t averageSamples[MAX_VL53L0XS][SAMPLE_COUNT_AVG];
    uint8_t averageCounter[MAX_VL53L0XS];
#endif
    bool continuous; // Ranging continuously
    uint16_t lastDistance[MAX_VL53L0XS]; // Last distance in mm
    uint32_t lastMeasurement[MAX_VL53L0XS]; // Last distance measurement in ms
    int nextFree = 0; // Sensor count + 1
    uint8_t pins[MAX_VL53L0XS]; // Pins the LIDARs use for XSHUT.
    HardwareSerial * serial; //Additional serial port
    VL53L0X_Dev_t *pDev[MAX_VL53L0XS];
 
    void errorVL(uint8_t sensorNumber, String message);
 
    void print(String message, bool eol = false);
 
  public:
    enum RangeProfile { DefaultMode, HighAccuracy, LongRange, HighSpeed };
 
    VL53L0Xs(HardwareSerial * hardwareSerial = 0);
 
    void add(uint8_t pin, uint8_t i2c_addr = 0x29);
 
    void begin(bool continuousMeasurement = true, boolean verbose = false, uint8_t sensorNumber = 0xFF);
 
    uint16_t distance(uint8_t sensorNumber, bool average = false);
 
    void rangeProfileSet(RangeProfile value, uint8_t sensorNumber = 0xFF);
    
    void reset(uint8_t sensorNumber = 0xFF);
 
    void test(BreakCondition breakWhen = 0, bool average = false);
};
 
/* Declaration of error function. Definition is in Your code. Recommended actions: stop the motors, display error message
    and go into an endless loop.
@param message - error message.
*/
void error(String message);