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

trig=Pin(5, Pin.OUT)
echo=Pin(4,Pin.IN)
led=Pin(28, Pin.OUT)
i2c = I2C(0,sda=Pin(0), scl=Pin(1), freq=400000)
i2c_ADDR = i2c.scan()[0]
lcd = I2cLcd(i2c,i2c_ADDR,4,20)

while True:
    trig.off()
    utime.sleep_us(2)
    trig.on()
    utime.sleep_us(4)
    trig.off()
    while echo.value()==0:
        off_time=utime.ticks_us()
    while echo.value()==1:
        on_time=utime.ticks_us()
    total_time=on_time-off_time
    distance=(total_time*0.034)/2
    if distance > 200:
        led.off()
    else:
        led.on()

    print("distance of object:",distance,"cm")
    
    lcd.move_to(0,2)

    lcd.putstr(f"Distance: {distance:} cm")

    sleep(.5)
    lcd.clear()

    utime.sleep_us(1)