import utime
from machine import Pin, I2C
from pico_i2c_lcd import I2cLcd

sda = Pin(0)
scl = Pin(1)

i2c = I2C(0, sda=sda, scl=scl, freq=40000)

devices = i2c.scan()
i2c_addr = devices[0]

lcd = I2cLcd(i2c, i2c_addr, 2, 16)

trigger = Pin(15, Pin.OUT)
echo = Pin(14, Pin.IN)

def get_distance():
    trigger.value(0)
    utime.sleep_us(2)
    trigger.value(1)
    utime.sleep_us(5)
    trigger.value(0)
    
    while echo.value() == 0:
        pulse_start = utime.ticks_us()
    
    while echo.value() == 1:
        pulse_end = utime.ticks_us()
    
    pulse_duration = utime.ticks_diff(pulse_end, pulse_start)
    distance = (pulse_duration * 0.0343) / 2
    return distance

distances = []
for i in range(5):
    dist = get_distance()
    distances.append(dist)
    lcd.clear()
    lcd.putstr(f"Dist: {dist:.2f} cm")
    utime.sleep(2)

d1 = distances[0]
d5 = distances[4]
t = 8

acceleration = 2 * (d5 - d1) / (t ** 2)

lcd.clear()
lcd.move_to(0, 0)
lcd.putstr(f"Accel: {acceleration:.4f} m/s²")