diff --git a/controller/src/main.rs b/controller/src/main.rs
index 6313cbb..a010e8f 100644
--- a/controller/src/main.rs
+++ b/controller/src/main.rs
@@ -9,6 +9,7 @@ mod vl53l0;
 
 use core::array;
 use core::borrow::BorrowMut;
+use core::cell::RefCell;
 use core::fmt::Formatter;
 use core::panic::PanicInfo;
 use core::str::from_utf8;
@@ -17,6 +18,7 @@ use bt_hci::cmd::info;
 use cyw43_pio::PioSpi;
 use embassy_rp::i2c::{Async, I2c};
 use embassy_rp::pwm::{self, Pwm};
+use embedded_hal_bus::i2c::RefCellDevice;
 use fixed::FixedU16;
 use log::*;
 //use embassy_rp::i2c::InterruptHandler;
@@ -95,10 +97,23 @@ async fn main(spawner: Spawner) {
     let scl = p.PIN_27;
     let config = embassy_rp::i2c::Config::default();
     let bus1 = embassy_rp::i2c::I2c::new_async(p.I2C1, scl, sda, Irqs, config);
+    let bus1 = RefCell::new(bus1);
 
-    let mut tof = vl53l0x::VL53L0x::new(bus1).unwrap();
+    info!("made RefCell");
+
+    let mut tof2on = Output::new(p.PIN_16, Level::Low);
+    info!("2");
+    Timer::after_millis(1).await;
+    let mut tof = vl53l0x::VL53L0x::new(RefCellDevice::new(&bus1)).unwrap();
+    info!("3");
+    tof.set_address(0x32).unwrap();
+    info!("4");
+    tof2on.set_high();
+    Timer::after_millis(13).await;
+    info!("5");
+    let mut tof2 = vl53l0x::VL53L0x::new(RefCellDevice::new(&bus1)).unwrap();
+    info!("6");
 
-    tof.start_continuous(0).unwrap();
 
     let mut gyro = Mpu6050::new_with_addr(bus,0x68);
 
@@ -114,8 +129,12 @@ async fn main(spawner: Spawner) {
         //info!("pos: {}", gyro.get_gyro().unwrap().x);
         //info!("jerk: {}", gyro.get_acc().unwrap().x);
         //info!("temp: {}", gyro.get_temp().unwrap() * (9./5.) + 32.);
-        if let Ok(dist) = tof.read_range_mm() {
-            info!("dist: {dist}mm");
+        if let Ok(dist) = tof.read_range_single_millimeters_blocking() {
+            info!("dist1: {dist}mm");
+        }
+        Timer::after_millis(3).await;
+        if let Ok(dist) = tof2.read_range_single_millimeters_blocking() {
+            info!("dist2: {dist}mm");
         }
         Timer::after_millis(23).await;
     }