'GP2D02-------------------------------------------------------------------------
'
' This module contains the functions to read the GP2D02 sensor.
'
'-------------------------------------------------------------------------------
PUBLIC IRDist as BYTE
'PUBLIC LeftIRDist as BYTE
DIM DATA1 as BYTE

SUB IRDistance()
  CALL PutPin(GP2D02StartPinNum,0)
  CALL SLEEP(30)     'wait 70msec
  'CALL SLEEP(20)    
  CALL GP2D02read    'read both sensors
  'CALL GP2D02read2    'read both sensors
  'RightIRDist = DATA2'save right value
  IRDist = DATA1 'save value
  CALL PutPin(GP2D02StartPinNum,1)
END SUB

SUB GP2D02read()
  dim bit as byte
  dim z as byte
  data1 = 0
'  data2 = 0
  bit = 128
  for z = 1 to 8
    call putpin(GP2D02StartPinNum,1)
    call putpin(GP2D02StartPinNum,0)
    'if (getpin(LGP2D02InPinNum) = 1 ) then
    '  data2 = data2 or bit
    'end if
    if (getpin(GP2D02InPinNum) = 1) then
      data1 = data1 or bit
    end if
    bit = bit \ 2
  next
END SUB

SUB GP2D02read2()
	data1 = ShiftIn(GP2D02InPinNum,GP2D02StartPinNum,9)
END SUB

FUNCTION DistanceToInch() AS Single
   'LeftToInch = 130.21198 - 3.0642852 * csng(LeftIRDist) + 0.028569488 * pow(csng(LeftIRDist),2.0) - 0.000117672 * pow(csng(LeftIRDist),3.0) + 0.00000017817851 * pow(csng(LeftIRDist),4.0)
   'CALL GetEEProm(Table2 + (clng(LeftIRDist) * 4),LeftToInch,4)
   IF IRDIst > 230 THEN
   ELSE
      'LeftToInch = IRTable(1,cint(LeftIRDist))
   END IF
END FUNCTION

'FUNCTION RightToInch() AS Single
   'RightToInch = 44.274196 - 0.43973765 * csng(RightIRDist) + 0.00091938479 * pow(csng(RightIRDist),2.0) + 0.0000044909932 * pow(csng(RightIRDist),3.0) - 0.000000015149776 * pow(csng(RightIRDist),4.0)
   'CALL GetEEProm(Table1 + (clng(RightIRDist) * 4),RightToInch,4)
'   IF RightIRDIst > 230 THEN
'   ELSE
      'RightToInch = IRTable(2,cint(RightIRDist))
'   END IF

'END FUNCTION