#include <Wire.h>
#include <VL53L0X.h>

// IR SENSORS

#define XSHUT_pin4 8 //not required for address change
#define XSHUT_pin3 9
#define XSHUT_pin2 10
#define XSHUT_pin1 11

//ADDRESS_DEFAULT 0b0101001 or 41
#define Sensor4_newAddress 41  //not required address change
#define Sensor3_newAddress 42
#define Sensor2_newAddress 43
#define Sensor1_newAddress 44

// IR sensors
VL53L0X sensor4;
VL53L0X sensor3;
VL53L0X sensor2;
VL53L0X sensor1;


// bool last_sensor1_state = 0;
// bool last_sensor2_state = 0;
// bool last_sensor3_state = 0;
// bool last_sensor4_state = 0;

void setup() {
  Serial.begin(115200);
  // Set the maximum speed in steps per second:

  // VL53L0X
  
  /*WARNING*/
  //Shutdown pins of VL53L0X ACTIVE-LOW-ONLY NO TOLERANT TO 5V will fry them
  pinMode(XSHUT_pin1, OUTPUT);
  pinMode(XSHUT_pin2, OUTPUT);
  pinMode(XSHUT_pin3, OUTPUT);
  pinMode(XSHUT_pin4, OUTPUT);
  
  digitalWrite(XSHUT_pin1, LOW);
  digitalWrite(XSHUT_pin2, LOW);
  digitalWrite(XSHUT_pin3, LOW);
  digitalWrite(XSHUT_pin4, LOW);

  Wire.begin();

  //Change address of sensor and power up next one

  pinMode(XSHUT_pin1, INPUT);
  sensor1.init();
  sensor1.setAddress(Sensor1_newAddress);
  delay(10);
  
  pinMode(XSHUT_pin2, INPUT);
  sensor2.init();
  sensor2.setAddress(Sensor2_newAddress);
  delay(10);
  
  pinMode(XSHUT_pin3, INPUT);
  sensor3.init();
  sensor3.setAddress(Sensor3_newAddress);
  delay(10);

  pinMode(XSHUT_pin4, INPUT);
  sensor4.init();
  sensor4.setAddress(Sensor4_newAddress);
  delay(10);


  sensor1.setTimeout(0);
  sensor2.setTimeout(0);
  sensor3.setTimeout(0);
  sensor4.setTimeout(0);

  // // if (!sensor.init())
  // // {
  // //   Serial.println("Failed to detect and initialize  sensor!");
  // //   while (1) {}
  // // }
  sensor1.startContinuous();
  sensor2.startContinuous();
  sensor3.startContinuous();
  sensor4.startContinuous();
}

void loop() {
  
    int state1 = sensor1.readRangeContinuousMillimeters();
    Serial.print("s1 : ");
    Serial.print(state1);
    Serial.print(" | ");
    
    int state2 = sensor2.readRangeContinuousMillimeters();
    Serial.print("s2 : ");
    Serial.print(state2);
    Serial.print(" | ");
    
    int state3 = sensor3.readRangeContinuousMillimeters();
    Serial.print("s3 : ");
    Serial.print(state3);
    Serial.print(" | ");

    int state4 = sensor4.readRangeContinuousMillimeters();
    Serial.print("s4 : ");
    Serial.println(state4);
  
  
  // if (sensor1.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
  // if (sensor2.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
  // if (sensor3.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
  // if (sensor4.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
}