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#include <Servo.h>
#include <Wire.h>
#include <VL53L1X.h>


Servo phiservo;
Servo etaservo;
VL53L1X sensor;

int phi = 0;
int eta = 0;
int r[180];
int i = 0;


void excelAusgabe();

void setup() {
  Serial.begin(2000000);
  //  Serial.println("Setup gestartet!");

  Wire.begin();
  Wire.setClock(400000); // use 400 kHz I2C

  sensor.setTimeout(5000);
  if (!sensor.init())
  {
    Serial.println("Failed to detect and initialize sensor!");
    while (1);
  }

  sensor.setDistanceMode(VL53L1X::Long);
  sensor.setMeasurementTimingBudget(50000);

  //excelSetup();

  phiservo.attach(D3);
  phiservo.write(0);
  etaservo.attach(D4);
  etaservo.write(0);

  sensor.startContinuous(50);


}

void loop() {
  for (eta = 45; eta <= 135; eta += 1)
  {
    etaservo.write(eta);                       // tell servo to go to position in variable 'pos'
    delay(15);
    phi = 175;

    if (eta == 45)
    {
      Serial.print("warte auf eta...");
      Serial.println();
      delay(100);
    }
    i = 0;
    phiservo.write(175);                       // tell servo to go to position in variable 'pos'
    delay(500);
    for (phi = 175; phi >= 5; phi -= 1)       // goes from 0 degrees to 180 degrees in steps of 1 degree
    {
      phiservo.write(phi);                       // tell servo to go to position in variable 'pos'
      delay(15);
      etaservo.write(eta);                       // tell servo to go to position in variable 'pos'

      while (sensor.dataReady() == false)
      {
        delay(1);
      }

      sensor.read();

      r[i] = sensor.ranging_data.range_mm;

      if (VL53L1X::rangeStatusToString(sensor.ranging_data.range_status) == "wrap target fail")
      {
        r[i] = 0;
      }

      else if (r[i] > 4000)
      {
        r[i] = 0;
      }

      else if (sensor.timeoutOccurred())
      {
        r[i] = 0;
      }
      //      Serial.print(r[i]);
      //      Serial.println();

      Serial.print(i);
      Serial.print(",");
      Serial.print(r[i]);
      Serial.println();

      i++;
    }
    //excelAusgabe();
  }
}