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

i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)

trigger = Pin(3,Pin.OUT)
echo = Pin(2, Pin.IN)

# getting I2C address
I2C_ADDR = i2c.scan()[0]

# creating an LCD object using the I2C address and specifying number of rows and columns in the LCD
# LCD number of rows = 2, number of columns = 16
lcd = I2cLcd(i2c, I2C_ADDR, 2, 16)

lcd.putstr("Dist.(cm)=")

def ultra ():
    trigger.low()
    utime.sleep_us(2)
    trigger.high()
    utime.sleep_us(5)
    trigger.low()
    while echo.value() == 0:
            signaloff = utime.ticks_us()
    while echo.value() ==1:
            signalon = utime.ticks_us()
    timpassed = signalon - signaloff
    distance = (timpassed * 0.0343) / 2
    print("The distance from object is ",distance,"cm")
    return distance

while True:
    d = ultra()
    d = round(d, 2)

    lcd.move_to(10, 0)
    lcd.putstr("{:<7}".format(str(d)))

    sleep(1)