File content as of revision 2:64a1dd5f6dc7:

#include "mbed.h"
#include "SG90.h"
#include "VL53L0X.h"
#define USE_XSHUT   0

DigitalIn Btn1(PC_13);//  USER_BUTTON
SG90 sg(D9);

//  Constructor ----------------------------------------------------------------
DigitalOut  myled(LED1);
Serial      pc(USBTX, USBRX);
VL53L0X     sensor(I2C_SDA,I2C_SCL,NC);        // XSHUT = NC
Timer       t;

//  ROM / Constant data --------------------------------------------------------
char *const msg0="VL53L0X is running correctly!!\r\n";
char *const msg1="VL53L0X -> something is wrong!!\r\n";
char *const msg2="#,";
char *const msg3="d[mm]=,";
char *const msg4="d[mm]=,error,";
char *const msg5="VL53[mS]=, ";
char *const msg6="all[mS]=, ";

//L298n connections
DigitalOut pinI1(D5);
DigitalOut pinI2(D6);
DigitalOut pinI3(D10);
DigitalOut pinI4(D11);

int main(){
    int status=VL53L0X_ERROR_NONE;
    uint32_t data;
    uint32_t count=0;
    uint32_t tm_sensor;
    uint32_t tm_all_work;
 	
 	#if USE_XSHUT
    status = sensor.init_sensor(0x33);  // set new I2C address
	#else
    // no control XSHUT then set default address (no other way)
    status = sensor.init_sensor(VL53L0X_DEFAULT_ADDRESS);
	#endif

    if (status == VL53L0X_ERROR_NONE)
        pc.printf(msg0);
    else{
        pc.printf(msg1);
        pc.printf("%d\n",status);
        }
    //status = sensor.set_mode(range_long_distance_33ms_200cm);
    status = sensor.set_mode(range_hi_accurate_200ms_120cm);
    //status = sensor.set_mode(range_hi_speed_20ms_120cm);
    if (status == VL53L0X_ERROR_NONE)
        pc.printf(msg0);
    else{
        pc.printf(msg1);
        pc.printf("%d\n",status);
        }
    while(true){
        t.reset();
        t.start();
        //myled = !myled;
        status = sensor.get_distance(&data);
        tm_sensor = t.read_ms();
        if (status == VL53L0X_ERROR_NONE)
            pc.printf("%s%5d,%s%5d,", msg2, count++, msg3, data);
        else
            pc.printf("%s%5d,%s", msg2, count++, msg4);
        pc.printf("%s%d,%s%d\r\n", msg5, tm_sensor, msg6, tm_all_work);
        tm_all_work = t.read_ms();
        if (tm_all_work < 99)
            wait_ms(100 - tm_all_work);

	/*sg.SetAngle(80);
	wait_ms(1000);
	sg.SetAngle(-80);
	wait_ms(1000);
	forward();
	wait_ms(3000);
	left();
	wait_ms(1000);
	right();
	wait_ms(1000);
	stop();*/

	/*forward();						//輪胎馬達前進
	if(LiDAR_Distance <= 30)		//LiDAR_Distance 由 LiDAR sensor 獲得距離
	{
		TurnLeft_or_TurnRight();
	}*/
}

void reverse(){
    pinI1=1;
    pinI2=0;
    pinI3=1;
    pinI4=0;
}
void forward(){
    pinI1=0;
    pinI2=1;
    pinI3=0;
    pinI4=1;
}
void left(){
    pinI1=0;
    pinI2=1;
    pinI3=0;
    pinI4=0;
}
void right(){
    pinI1=0;
    pinI2=0;
    pinI3=0;
    pinI4=1;
}
void stop(){
    pinI1=0;
    pinI2=0;
    pinI3=0;
    pinI4=0;
}
/*void TurnLeft_or_TurnRight(){
			sg.SetAngle(-80);		//伺服馬達轉向左
			LeftDistance = LiDAR_Distance;		//雷達測距並存到 LeftDistance
			
			sg.SetAngle(80);		//伺服馬達轉向右
			RightDistance = LiDAR_Distance;		//雷達測距並存到 RightDistance
			
			if(LeftDistance > RightDistance)		//比較左右邊的距離
				left();
			else 
				right();
}*/