make the transform of distance more readable.
Try to implement obstacle avoidance algorithm:

1.add a Lidar_Alarm_task to update the status

2.orientation suggestion:
if the left min distance sum is smaller than right:
suggest user to go right.
else:
suggest user to go left.

3.use 9 vibration motors to remind the user distance of each 20 degree.
if the distance is shorter, the vibration will be stronger.