from machine import Pin, SoftI2C
import utime
from i2c_lcd import I2cLcd

trigger = Pin(26, Pin.OUT)
echo = Pin(27, Pin.IN)
sda_pin = Pin(21)
scl_pin = Pin(22)
i2c = SoftI2C(sda=sda_pin, scl=scl_pin, freq=10000)
device = 0x27
lcd = I2cLcd(i2c, device, 2, 16)

def ultra():
    trigger.off()
    utime.sleep_us(2)
    trigger.on()
    utime.sleep_us(5)
    trigger.off()
    while echo.value() == 0:
        signal_off = utime.ticks_us()
    while echo.value() == 1:
        signal_on = utime.ticks_us()
    try:
        time_passed = signal_on - signal_off
    except NameError:
        return 0
    return time_passed/58

while True:
    distance = ultra()
    print(f"Distance from object is {distance:6.2f}cm.")
    lcd.putstr(f"{distance:6.2f}")
    utime.sleep(1)
    lcd.clear()
    lcd.move_to(10,1)
    lcd.putstr(f"{distance:6.2f}")
    utime.sleep(1)
    lcd.clear()