from time import sleep_us, sleep
from machine import Pin, time_pulse_us, I2C
from pico_i2c_lcd import I2cLcd

pin_trig = Pin(16, Pin.OUT)
pin_echo = Pin(17, Pin.IN)
cicalino = Pin(6,Pin.OUT) 
I2C_Led = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)
indirizzo = I2C_Led.scan()[0]
lcd_0 = I2cLcd(I2C_Led, indirizzo, 2, 16)


vLed = [Pin(5, Pin.OUT), Pin(4, Pin.OUT), Pin(21, Pin.OUT), 
        Pin(20, Pin.OUT), Pin(19, Pin.OUT), Pin(18, Pin.OUT)]

sleep(0.1)
while True:
    pin_trig.value(1)
    sleep_us(10)
    pin_trig.value(0)
    tempous = time_pulse_us(pin_echo , 1)
    distanza = (0.0343 * tempous) / 2
    print("distanza:" + str(distanza) + " cm")
    lcd_0.clear()
    lcd_0.putstr("Distanza:\n" + str(round(distanza)) + " cm"  )


    if(distanza<=200):
        vLed[0].value(1)
    else:
        vLed[0].value(0)

    if(distanza<=150):
        vLed[1].value(1)
    else:
        vLed[1].value(0)

    if(distanza<=100):
        vLed[2].value(1)
    else:
        vLed[2].value(0)

    if(distanza<=50):
        vLed[3].value(1)
    else:
        vLed[3].value(0)

    if(distanza<=30):
        vLed[4].value(1)
    else:
        vLed[4].value(0)

    if(distanza<=15):
        vLed[5].value(1)
    else:
        vLed[5].value(0)

    if (distanza <= 10):
        for _ in range(5): 
            for led in vLed:
                led.value(1)
            sleep(0.2)
            for led in vLed:
                led.value(0)
            sleep(0.2)
        
    if(distanza<=50):
        cicalino.value(1)
    else:
        cicalino.value(0)    

    sleep(0.1)