'***********************************************************
'**                                                       **
'**               I2C Routines for OOPic-R                **
'**       with the SRF08 Ultrasonic Ranger Modules        **
'**                                                       **
'**             Copyright 2003 - Devantech Ltd            **
'**     Commercial use of this software is prohibited     **
'**     Private and educational use only is permitted     **
'**                                                       **
'**         Written by Gerald Coe - January 2003          **
'**                                                       **
'***********************************************************
'**                                                       **
'**   To view the Version, Light Sensor or Range Values   **
'**       Double click the object in the Debug Panel      **
'**                                                       **
'***********************************************************

Dim SRF08 As New oI2C  		    ' Create the SRF08 object
Dim Ver as new oByte
Dim Light as new oByte
Dim Range as new oWord

Sub main()
  SRF08.Node = 112                ' Decimal of Hex address 0xE0 shifted right by 1
  SRF08.Mode = cv10bit            ' I2C mode is 10-Bit Addressing.
  SRF08.NoInc = 1                 ' Don't increment
 
  Do
    SRF08.Location = 0            ' Command Register
    SRF08.Width = cv8bit          ' 1 byte wide transfer
    SRF08 = 81                    ' Ranging Command - Result in cm

    Do                            ' Wait for ranging to complete
      Ver = SRF08                 ' This will wait forever if your sonar
    Loop While Ver=255            ' becomes disconnected

    SRF08.Location = 1            ' Light Sensor Register
    Light = SRF08                 ' Get Light Sensor value
    SRF08.Width = cv16bit         ' 2 byte wide transfer
    SRF08.Location = 2            ' 1st Range Register
    Range = SRF08                 ' Get Range to 1st object
  Loop
End Sub