'VL53LOX
 
 OPTION EXPLICIT
 OPTION DEFAULT NONE
 
 DIM INTEGER dst(2)
 DIM INTEGER pos_L,pos_R, pingNow,tap_pos = 120
 DIM INTEGER hit_L, hit_R, lockout, rdy
 DIM zoneL$, zoneR$, zoneLx$, zoneRx$
 CONST i2caddr=&H29
 CONST vl53LOX_reset = 22 'gp17
 CONST tap = 100
 CONST near = 300
 
 SETPIN GP19,GP18,I2C2
 
 I2C2 OPEN 400,1000
 
 SETPIN vl53LOX_reset, DOUT
 SETPIN GP20, DOUT
 
 PIN(vl53LOX_reset) = 0 ' inhibit the RH module while we change the address of the LH
 set_address 1
 PIN(vl53LOX_reset) = 1
 scanner ' just to confirm thata we now have two addresses
 ' initialise modules
 I2C2 WRITE i2caddr+1,0,2,&H89,&H1
 IF MM.I2C THEN PRINT "Li",MM.I2C
 
 I2C2 WRITE i2caddr ,0,2,&H89,&H1
 IF MM.I2C THEN PRINT "Ri",MM.I2C
 CLS
 ' start readings in continuous mode
 I2C2 WRITE i2caddr  ,0,2,0,2
 I2C2 WRITE i2caddr+1,0,2,0,2
 SETTICK 50, ping
 
 DO
   IF pingNow THEN pingIt
   
 LOOP
 '
 
SUB ping
 'pin(gp20) = 1
 pos_R = get_distance(0)
 IF MM.I2C THEN PRINT "R",MM.I2C
 pos_L = get_distance(1)
 IF MM.I2C THEN PRINT "L",MM.I2C
 'pin(gp20) = 0
 pingNow = 1
END SUB
 
SUB pingIt
 pingNow = 0
 IF pos_L > 1000 THEN pos_L = 0
 IF pos_R > 1000 THEN pos_R = 0
 zoneL$ = zone$(pos_L)
 zoneR$ = zone$(pos_R)
 hit_R = INSTR(zoneRx$,"B")
 hit_L = INSTR(zoneLx$,"B")
 zoneLx$ = zoneL$+LEFT$(zoneLx$,5)
 zoneRx$ = zoneR$+LEFT$(zoneRx$,5)
 TEXT 20,100,STR$(pos_L,4,0), lm,3,1
 TEXT 240,100,STR$(pos_R,4,0), lm,3,1
 
 ' for a swwipe the opposite sensor must record a hit in the last 6 reads
 ' but not still registering
 IF zoneL$="B" AND INSTR(zoneRx$,"B")> 1 THEN swipe_left
 IF zoneR$="B" AND INSTR(zoneLx$,"B")> 1 THEN swipe_right
 ' for a tap, we want two consecutive triggers
 IF zoneL$="A" AND MID$(zoneLx$,2,1)="A" THEN tap_Left
 IF zoneR$="A" AND MID$(zoneRx$,2,1)="A" THEN tap_right
 
END SUB
 
FUNCTION zone$(x%)
 SELECT CASE x%
   CASE IS < 50
     zone$="_"
   CASE IS < tap
     zone$="A"
   CASE IS < near
     zone$ = "B"
   CASE ELSE
     zone$= "_"
 END SELECT
END FUNCTION
 
FUNCTION get_distance(dev AS INTEGER) AS INTEGER
 PIN(GP20) = 1
 I2C2 WRITE i2caddr+dev,1,1,&H1E
 I2C2 READ i2caddr+dev,0,2,dst()
 I2C2 WRITE i2caddr+dev,0,2,&H0B,1
 get_distance = (dst(0)<<8) + dst(1) '- 20
 PIN(GP20) = 0
END FUNCTION
 
SUB set_address dev AS INTEGER
 I2C2 WRITE i2caddr,0,2,&h8A, i2caddr +dev AND &h7F
 IF MM.I2C THEN PRINT "set",MM.I2C
 
END SUB
 
SUB scanner
 LOCAL INTEGER x,y, addr
 PRINT "System I2C Address Scanner"
 ' Prep table
 PRINT "     0  1  2  3  4  5  6  7  8  9  A  B  C  D  E  F"
 ' loop col/row
 FOR y=0 TO 7
   PRINT HEX$(y,2);": ";
   FOR x=0 TO 15
     addr = y*16+x               ' calc address
     I2C2 WRITE addr, 0, 1, &H00  ' write zerp to that adress
     IF MM.I2C=0 THEN            ' check for errors
       PRINT HEX$(addr,2);" ";   ' found one!
     ELSE
       PRINT "-- ";               ' nothing here..
     ENDIF
   NEXT x
   PRINT
 NEXT y
END SUB
 
SUB tap_Left
 PRINT "Tap  Left",pos_L
 tap_pos = tap_pos - 2
 BOX 140,0,40,240,1,RGB(BLUE),RGB(BLUE)
 BOX 140,240-tap_pos,40,tap_pos,1,RGB(YELLOW),RGB(YELLOW)
END SUB
 
SUB tap_right
 PRINT "Tap Right",pos_R
 tap_pos = tap_pos + 2
 BOX 140,0,40,240,1,RGB(BLUE),RGB(BLUE)
 BOX 140,240-tap_pos,40,tap_pos,1,RGB(YELLOW),RGB(YELLOW)
END SUB
 
SUB swipe_right
 IF lockout < TIMER THEN
   lockout = TIMER + 500
   CLS RGB(GREEN)
   BOX 140,0,40,240,1,RGB(BLUE),RGB(BLUE)
   BOX 140,240-tap_pos,40,tap_pos,1,RGB(YELLOW),RGB(YELLOW)
   PRINT "Swipe Right ";ZONELx$,pos_R
 ENDIF
END SUB
 
SUB swipe_left
 IF lockout < TIMER THEN
   lockout = TIMER + 500
   CLS RGB(RED)
   BOX 140,0,40,240,1,RGB(BLUE),RGB(BLUE)
   BOX 140,240-tap_pos,40,tap_pos,1,RGB(YELLOW),RGB(YELLOW)
   PRINT "Swipe  Left ";ZONERx$,pos_L
 ENDIF
END SUB