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#define MAX_BYTES 4

const byte ping_cmnd[] = {0x2, 0x41, 0x1}; // sensor one-shot-mode command
const byte register_select[] = {0x2, 0x42}; // sensor data register

// Wait until Select button is bumped.
void wait_for_select()
{
   until (ButtonPressed(BTNCENTER, true));
   while (ButtonPressed(BTNCENTER, true));
   PlayFile("! Click.rso");
}

// Ping the US sensor when the Select button is bumped.
task main()
{
   byte data[MAX_BYTES];
   byte data_size = MAX_BYTES;
   SetSensorLowspeed(IN_4); // sensor is connected to port 4
   while (true)
   {
      wait_for_select();
      ClearScreen();
      I2CWrite(IN_4, 0, ping_cmnd); // send the ping command
      Wait(MS_100); // give sensor time to do the ping
      // Read and display the range data produced by the ping
      if (I2CBytes(IN_4, register_select, data_size, data))
      {
         for (int i = 0; i < MAX_BYTES; ++i)
            NumOut(40, 56 - 8 * i, data[i]);
      }
      else TextOut(0, LCD_LINE1, "Sensor Error");
   }
}
//