Refactor code structure for improved readability and maintainability

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README.md

@@ -52,7 +52,7 @@ The project enables a robot to interface with multiple **VL53L7CX** sensors, eac
 
 ![VL53L7CX](images/vl53l7cx.jpg)
 
-The **VL53L7CX** sensor provides accurate distance measurements using Time-of-Flight (ToF) technology. It features a 8x8 and 4x4 grid of measurement zones, making it ideal for spatial awareness and environmental scanning.
+The **VL53L7CX** sensor provides accurate distance measurements using Time-of-Flight (ToF) technology. It features a 8x8 and 4x4 grid of measurement zones and a refresh rate up up to 15 Mesurements per second, making it ideal for spatial awareness and environmental scanning.
 
 ## Features
 
@@ -76,16 +76,18 @@ The **VL53L7CX** sensor provides accurate distance measurements using Time-of-Fl
 
 To run this project, you will need the following hardware:
 
-1. **Microcontroller**: Any board compatible with Arduino, such as:
+1. **Microcontroller**: Any board compatible with Arduino and two I2C Interfaces, such as:
    - **RP2040** (e.g., Raspberry Pi Pico)
 
 2. **VL53L7CX Sensors**:
-   - At least one **VL53L7CX** sensor, but the project supports up to four sensors at the moment for broader coverage.
+   - At least one **VL53L7CX** sensor, but the project supports up to 18 sensors at the moment for broader coverage.
 
 3. **I2C Connections**:
-   - Connect each sensor via I2C to the microcontroller. Ensure proper wiring and pull-up resistors are in place.
+   - Connect each sensor to the microcontroller via I2C. Ensure proper wiring and distribute the data load evenly by connecting up to 9 sensors per I2C interface.
 
-4. **LED for Status**:
+4. **PCF8575 Modules**:
+   - Two **PCF8575 I2C GPIO expanders** are used during initialization to enable and disable I2C communication with each sensor. This allows assigning unique I2C addresses to the sensors dynamically.
+5. **LED for Status**:
    - An onboard LED or external LED connected to the **LED_BUILTIN** pin for visual feedback.
 
 ### Wiring Diagram Example
@@ -125,7 +127,7 @@ The VL53L7CX sensors are configured to operate in an 8x8 grid mode, providing 64
 
 ### Data Collection
 
-The microcontroller collects distance data from each sensor via the I2C bus. The data is then processed and formatted into a JSON object. This JSON object includes the distance measurements from all sensors. The formatted data is transmitted to the ROS2 node for further processing.
+The process of measuring distances using the VL53L7CX sensors is called **ranging**. The microcontroller collects distance data from each sensor via the I2C bus. The data is then processed and formatted into a JSON object. This JSON object includes the distance measurements from all sensors and the status of all measurements. The formatted data is transmitted to the ROS2 node for further processing.
 
 ## Example Output
 
@@ -133,19 +135,29 @@ Below is an example of the JSON output generated by the system:
 
 ```json
 {
-   "sensor1": [
-      [100, 110, 120, 130, 140, 150, 160, 170],
-      [105, 115, 125, 135, 145, 155, 165, 175],
-   ],
-   "sensor2": [
-      [200, 210, 220, 230, 240, 250, 260, 270],
-      [205, 215, 225, 235, 245, 255, 265, 275],
-      ...
-   ]
+  "sensor0": [[18,5],[22,5],[37,5],[215,5],[183,5],[184,5],[211,5],[961,255],[24,5],[1010,5],[819,5],[922,5],[899,5],[950,5],[909,5],[951,5],[263,255],[256,5],[911,5],[1023,5],[950,255],[933,5],[225,5],[953,5],[993,5],[999,5],[1044,5],[1000,5],[994,5],[980,5],[976,5],[972,5],[969,5],[967,5],[965,5],[963,5],[962,5],[960,5],[959,5],[958,5],[957,5],[956,5],[955,5],[954,5],[952,5],[951,5],[950,5],[949,5],[948,5],[947,5],[946,5],[945,5],[944,5],[943,5],[942,5],[941,5],[940,5],[939,5],[938,5],[937,5],[936,5],[935,5],[934,5]],
+  "sensor1": [[111,5],[222,5],[333,5],[444,5],[555,5],[666,5],[777,5],[888,5],[999,5],[1000,5],[1010,5],[1020,5],[1030,5],[1040,5],[1050,5],[1060,5],[1070,5],[1080,5],[1090,5],[1100,5],[1110,5],[1120,5],[1130,5],[1140,5],[1150,5],[1160,5],[1170,5],[1180,5],[1190,5],[1200,5],[1210,5],[1220,5],[1230,5],[1240,5],[1250,5],[1260,5],[1270,5],[1280,5],[1290,5],[1300,5],[1310,5],[1320,5],[1330,5],[1340,5],[1350,5],[1360,5],[1370,5],[1380,5],[1390,5],[1400,5],[1410,5],[1420,5],[1430,5],[1440,5],[1450,5],[1460,5],[1470,5],[1480,5],[1490,5],[1500,5],[1510,5],[1520,5],[1530,5],[1540,5],[1550,5],[1560,5]],
+  "sensor2": [[201,5],[202,5],[203,5],[204,5],[205,5],[206,5],[207,5],[208,5],[209,5],[210,5],[211,5],[212,5],[213,5],[214,5],[215,5],[216,5],[217,5],[218,5],[219,5],[220,5],[221,5],[222,5],[223,5],[224,5],[225,5],[226,5],[227,5],[228,5],[229,5],[230,5],[231,5],[232,5],[233,5],[234,5],[235,5],[236,5],[237,5],[238,5],[239,5],[240,5],[241,5],[242,5],[243,5],[244,5],[245,5],[246,5],[247,5],[248,5],[249,5],[250,5],[251,5],[252,5],[253,5],[254,5],[255,5],[256,5],[257,5],[258,5],[259,5],[260,5],[261,5],[262,5],[263,5],[264,5]],
+  "sensor3": [[256,5],...,[673,255]],
+  "sensor4": [[256,5],...,[673,255]],
+  "sensor5": [[256,5],...,[673,255]],
+  "sensor6": [[256,5],...,[673,255]],
+  "sensor7": [[256,5],...,[673,255]],
+  "sensor8": [[256,5],...,[673,255]],
+  "sensor9": [[256,5],...,[673,255]],
+  "sensor10": [[256,5],...,[673,255]],
+  "sensor11": [[256,5],...,[673,255]],
+  "sensor12": [[256,5],...,[673,255]],
+  "sensor13": [[256,5],...,[673,255]],
+  "sensor14": [[256,5],...,[673,255]],
+  "sensor15": [[256,5],...,[673,255]],
+  "sensor16": [[256,5],...,[673,255]],
+  "sensor17": [[256,5],...,[673,255]]
 }
+
 ```
 
-This JSON object can be easily parsed and used for tasks such as obstacle avoidance and path planning.
+This JSON object can be easily parsed.
 
 ## License