In this paper, an integrated visible light communication and positioning (VLCP) code division multiple access (CDMA) system is proposed for recovering original user data and obtaining positioning information simultaneously. A generalized modification method for balanced bipolar code set is presented, which can be applied to VLCP-CDMA system with intensity modulation. Both modified bipolar code sets, zero correlation zone (ZCZ) code set and Walsh code set, are employed and evaluated in VLCP-CDMA systems. When considering synchronous and quasi-synchronous (QS) systems, it is demonstrated that the modified ZCZ code set with ideal zero correlation zone properties performs better communication and positioning performance than the modified Walsh code set by system simulations and experiments. As a result, a bit error rate (BER) of 1.8×10-3 and an average positioning error of 1.50 cm are successfully obtained by adopting modified ZCZ code set in a 4-user real-time VLCP-CDMA system. It will offer a promising solution to meet both communication and positioning requirements of future intelligent systems.