cara sederhana menghubungkan sensor jarak laser TOF10120 l dengan arduino

#include <Arduino.h>

#include <Wire.h>

unsigned char ok_flag;
unsigned char fail_flag;
 
unsigned short lenth_val = 0;
unsigned char i2c_rx_buf[16];
unsigned char dirsend_flag = 0;


void SensorRead(unsigned char addr, unsigned char* datbuf, unsigned char cnt) {
  unsigned short result = 0;
  // step 1: instruct sensor to read echoes
  Wire.beginTransmission(82);  // transmit to device #82 (0x52)
  // the address specified in the datasheet is 164 (0xa4)
  // but i2c adressing uses the high 7 bits so it's 82
  Wire.write(byte(addr));  // sets distance data address (addr)
  Wire.endTransmission();  // stop transmitting
  // step 2: wait for readings to happen
  delay(1);  // datasheet suggests at least 30uS
  // step 3: request reading from sensor
  Wire.requestFrom(82, cnt);  // request cnt bytes from slave device #82 (0x52)
  // step 5: receive reading from sensor
  if (cnt <= Wire.available()) {  // if two bytes were received
    *datbuf++ = Wire.read();      // receive high byte (overwrites previous reading)
    *datbuf++ = Wire.read();      // receive low byte as lower 8 bits
  }
}
 
int ReadDistance() {
  SensorRead(0x00, i2c_rx_buf, 2);
  lenth_val = i2c_rx_buf[0];
  lenth_val = lenth_val << 8;
  lenth_val |= i2c_rx_buf[1];
  delay(300);
  return lenth_val;
}


void setup()
{
Serial.begin(9600);
 Wire.begin();
  Serial.begin(9600, SERIAL_8N1);

}
void loop(){
  int jarak_laser = ReadDistance();
  Serial.print(jarak_laser);
  Serial.println(" mm");


}