// Arduino MKR sur Arduino MKR Connector
// Connexion sur le connecteur TWI
#include <Wire.h> 

int     address = 0x57;     // i2c address of SEN-US01
float   distance;
long int     bytes[3];

void setup(){
    Serial.begin(9600);
    Wire.begin();
}

void loop(){
    Wire.beginTransmission(0x57);   // Start measurement
    Wire.write(0x01);
    Wire.endTransmission();

    delay(200); // Wait 200 ms 

    Wire.requestFrom(0x57,3);       // Read 3 bytes from sensor
    int i = 0;
    while(Wire.available()){
        bytes[i++] = Wire.read();
    } 
    
    distance = ((bytes[0] << 16) + (bytes[1] << 8) + bytes[2]) / 10000;     // Calculate distance based on received bytes

    if (false){        // Checking whether measured value is within the permissible distance
        Serial.println("distance is outside of the measuring range");   // If not, an error message is output
    }
    else{
        Serial.println("distance: " + String(distance) + " cm");    // The calculated distance is output to the console
    }
    delay(3000);    // Pause between the individual measurements
}