/*
* SRF08.ino - example interfacing with sonar sensor SRF08
*	library uses Wire.h 
*		SDA - Analog Pin 4
*		SCL - Analog Pin 5
*
* Authors:
*	- Zach Foresta - Foureza87@yahoo.com (April 2009)
*	- Leo Colomb - @LeoColomb (May 2012)
*
* For component setup - http://playground.arduino.cc/Main/SonarSrf08
*/

#include <Wire.h>
#include <SonarSRF08.h>

SonarSRF08 MySonar;

#define CommandRegister 0x00
int New_Address = 248; // 0xF8
#define ResultRegister  0x02
#define GainRegister 0x00 // Setup Analogue Gain -- http://www.robot-electronics.co.uk/htm/srf08tech.html section "Analogue Gain"
#define RangeLocation 0xFF // Setup Range Location -- http://www.robot-electronics.co.uk/htm/srf08tech.html section "Changing the Range"

int DEBUG = 1;
char unit = 'c'; // 'i' for inches, 'c' for centimeters, 'm' for micro-seconds
float sensorReading = 0;
int time = 70;


void setup()
{
  MySonar.connect();  
  MySonar.changeAddress(CommandRegister, New_Address, GainRegister, RangeLocation);
  if (DEBUG){
    Serial.begin(9600);
  }
  New_Address += 4; 
  // offset address not sure why this is but it works for this address
}

void loop()
{
  // set units, gain, and range location for reading out distance
  MySonar.setUnit(CommandRegister, New_Address, unit, GainRegister, RangeLocation);
  // pause
  delay(time);
  // set register for reading
  MySonar.setRegister(New_Address, ResultRegister);
  // read data from result register
  sensorReading = MySonar.readData(New_Address, 2);
  // print out distance
  Serial.print("Distance: ");
  Serial.print(sensorReading);
  Serial.print(" units");
  Serial.println();
  // pause
  delay(time);
}