import machine
import utime
from machine import I2C, Pin

# Classe para controle do LCD
class I2cLcd:
    def __init__(self, i2c, i2c_addr, num_lines, num_columns):
        self.i2c = i2c
        self.i2c_addr = i2c_addr
        self.num_lines = num_lines
        self.num_columns = num_columns
        self._init_lcd()

    def _init_lcd(self):
        self._write_cmd(0x33)  # Initialization
        self._write_cmd(0x32)  # Set to 4-bit mode
        self._write_cmd(0x28)  # 2 lines, 5x7 matrix
        self._write_cmd(0x0C)  # Display on, cursor off
        self._write_cmd(0x06)  # Entry mode set

    def _write_cmd(self, cmd):
        self._send(cmd, 0)

    def _write_data(self, data):
        self._send(data, 1)

    def _send(self, data, mode):
        high = mode | (data & 0xF0) | 0x04  # High nibble with EN
        low = mode | ((data << 4) & 0xF0) | 0x04  # Low nibble with EN
        self.i2c.writeto(self.i2c_addr, bytearray([high, high & ~0x04]))  # High nibble
        self.i2c.writeto(self.i2c_addr, bytearray([low, low & ~0x04]))  # Low nibble

    def clear(self):
        self._write_cmd(0x01)

    def putstr(self, string):
        for char in string:
            self._write_data(ord(char))

# Configuração do LCD
i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)  # Ajuste os pinos conforme necessário
lcd = I2cLcd(i2c, 0x27, 2, 16)  # Endereço I2C do módulo LCD pode variar

# Configuração do sensor ultrassônico
trigger = machine.Pin(3, machine.Pin.OUT)
echo = machine.Pin(2, machine.Pin.IN)

def measure_distance():
    trigger.low()
    utime.sleep_us(2)
    trigger.high()
    utime.sleep_us(10)
    trigger.low()

    while echo.value() == 0:
        signal_off = utime.ticks_us()
    while echo.value() == 1:
        signal_on = utime.ticks_us()

    time_passed = utime.ticks_diff(signal_on, signal_off)
    distance = (time_passed * 0.0343) / 2
    return distance

while True:
    distance = measure_distance()
    height = round(distance, 2)  # Altura arredondada
    print("Altura:", height, "cm")

    # Atualizar o LCD
    lcd.clear()
    lcd.putstr(f"Altura:\n{height} cm")
    
    utime.sleep(1)