Czujnik odległości, Raspberry Pi Pico

# Kod ze strony TechMaker.pl/czujnik-odleglosci-raspberry-pi-pico
from machine import Pin, time_pulse_us, I2C
from time import sleep_ms
import I2C_LCD_driver

# Konfiguracja pinów
trigger_pin = Pin(2, Pin.OUT)  # GPIO2 jako wyjście dla sygnału trigger
echo_pin = Pin(3, Pin.IN)      # GPIO3 jako wejście dla sygnału echo

# Konfiguracja I2C dla ekranu LCD
i2c = I2C(0, scl=Pin(1), sda=Pin(0), freq=100000)
lcd = I2C_LCD_driver.lcd()

def measure_distance():
    # Wysyłanie impulsu ultradźwiękowego
    trigger_pin.value(1)
    sleep_ms(10)
    trigger_pin.value(0)

    # Odczyt czasu trwania sygnału echo
    duration = time_pulse_us(echo_pin, 1, 30000)  # Maksymalny czas oczekiwania: 30 ms
    distance = duration / 58.0  # Obliczenie odległości w centymetrach (przy założeniu prędkości dźwięku ~343 m/s)

    return distance

try:
    while True:
        # Wykonaj pomiar odległości
        distance = measure_distance()

        # Wyświetl wynik na ekranie LCD
        lcd.lcd_clear()
        lcd.lcd_display_string("Odleglosc:", 1)
        lcd.lcd_display_string("{:.2f} cm".format(distance), 2)

        # Poczekaj przed kolejnym pomiarem
        sleep_ms(400)

except KeyboardInterrupt:
    # Zamknij program przy przerwaniu przez użytkownika (Ctrl+C)
    lcd.lcd_clear()
    print("Zakończono pomiar odległości.")

# -*- coding: utf-8 -*-
# i2c bus (0 -- original Pi, 1 -- Rev 2 Pi)
I2CBUS = 0

# LCD Address
ADDRESS = 0x27

from machine import Pin, I2C
from time import sleep

i2c = I2C(0, scl=Pin(1), sda=Pin(0), freq=100000)

class i2c_device:
   def __init__(self, addr, port=I2CBUS):
      self.addr = addr
      self.bus = I2C(port, scl=Pin(1), sda=Pin(0), freq=400000)

# Write a single command
   def write_cmd(self, cmd):
      self.bus.writeto(self.addr, bytes([cmd]))
      sleep(0.0001)


# commands
LCD_CLEARDISPLAY = 0x01
LCD_RETURNHOME = 0x02
LCD_ENTRYMODESET = 0x04
LCD_DISPLAYCONTROL = 0x08
LCD_CURSORSHIFT = 0x10
LCD_FUNCTIONSET = 0x20
LCD_SETCGRAMADDR = 0x40
LCD_SETDDRAMADDR = 0x80

# flags for display entry mode
LCD_ENTRYRIGHT = 0x00
LCD_ENTRYLEFT = 0x02
LCD_ENTRYSHIFTINCREMENT = 0x01
LCD_ENTRYSHIFTDECREMENT = 0x00

# flags for display on/off control
LCD_DISPLAYON = 0x04
LCD_DISPLAYOFF = 0x00
LCD_CURSORON = 0x02
LCD_CURSOROFF = 0x00
LCD_BLINKON = 0x01
LCD_BLINKOFF = 0x00

# flags for display/cursor shift
LCD_DISPLAYMOVE = 0x08
LCD_CURSORMOVE = 0x00
LCD_MOVERIGHT = 0x04
LCD_MOVELEFT = 0x00

# flags for function set
LCD_8BITMODE = 0x10
LCD_4BITMODE = 0x00
LCD_2LINE = 0x08
LCD_1LINE = 0x00
LCD_5x10DOTS = 0x04
LCD_5x8DOTS = 0x00

# flags for backlight control
LCD_BACKLIGHT = 0x08
LCD_NOBACKLIGHT = 0x00

En = 0b00000100 # Enable bit
Rw = 0b00000010 # Read/Write bit
Rs = 0b00000001 # Register select bit

class lcd:
   #initializes objects and lcd
   def __init__(self):
      self.lcd_device = i2c_device(ADDRESS)

      self.lcd_write(0x03)
      self.lcd_write(0x03)
      self.lcd_write(0x03)
      self.lcd_write(0x02)

      self.lcd_write(LCD_FUNCTIONSET | LCD_2LINE | LCD_5x8DOTS | LCD_4BITMODE)
      self.lcd_write(LCD_DISPLAYCONTROL | LCD_DISPLAYON)
      self.lcd_write(LCD_CLEARDISPLAY)
      self.lcd_write(LCD_ENTRYMODESET | LCD_ENTRYLEFT)
      sleep(0.2)


   # clocks EN to latch command
   def lcd_strobe(self, data):
      self.lcd_device.write_cmd(data | En | LCD_BACKLIGHT)
      sleep(.0005)
      self.lcd_device.write_cmd(((data & ~En) | LCD_BACKLIGHT))
      sleep(.0001)

   def lcd_write_four_bits(self, data):
      self.lcd_device.write_cmd(data | LCD_BACKLIGHT)
      self.lcd_strobe(data)

   # write a command to lcd
   def lcd_write(self, cmd, mode=0):
      self.lcd_write_four_bits(mode | (cmd & 0xF0))
      self.lcd_write_four_bits(mode | ((cmd << 4) & 0xF0))

   # write a character to lcd (or character rom) 0x09: backlight | RS=DR<
   # works!
   def lcd_write_char(self, charvalue, mode=1):
      self.lcd_write_four_bits(mode | (charvalue & 0xF0))
      self.lcd_write_four_bits(mode | ((charvalue << 4) & 0xF0))
  
   # put string function with optional char positioning
   def lcd_display_string(self, string, line=1, pos=0):
    if line == 1:
      pos_new = pos
    elif line == 2:
      pos_new = 0x40 + pos
    elif line == 3:
      pos_new = 0x14 + pos
    elif line == 4:
      pos_new = 0x54 + pos

    self.lcd_write(0x80 + pos_new)

    for char in string:
      self.lcd_write(ord(char), Rs)

   # clear lcd and set to home
   def lcd_clear(self):
      self.lcd_write(LCD_CLEARDISPLAY)
      self.lcd_write(LCD_RETURNHOME)

   # define backlight on/off (lcd.backlight(1); off= lcd.backlight(0)
   def backlight(self, state): # for state, 1 = on, 0 = off
      if state == 1:
         self.lcd_device.write_cmd(LCD_BACKLIGHT)
      elif state == 0:
         self.lcd_device.write_cmd(LCD_NOBACKLIGHT)

   # add custom characters (0 - 7)
   def lcd_load_custom_chars(self, fontdata):
      self.lcd_write(0x40);
      for char in fontdata:
         for line in char:
            self.lcd_write_char(line)