// Read GP2D12 Sensor output and displays distance (in cm)
// on RCX display (requires RCX 2 firmware)

int value,temp;

task main()
{
  SetUserDisplay(value,1); // Display "value" on LCD
  SetSensor(SENSOR_1,SENSOR_LIGHT); // Active mode: starts charging sensor
  Wait(100); // Wait for full charge on startup
  
  until (false)
  {
    SetSensor(SENSOR_1,SENSOR_TOUCH); // Passive mode: starts measure
    Wait(5); // Wait for GP2D12 conversion time (50ms)
    SetSensorMode(SENSOR_1,SENSOR_MODE_RAW);
    temp=SENSOR_1; // reads sensor value
    
    SetSensor(SENSOR_1,SENSOR_LIGHT); // Recharge sensor
    Wait(25); // for 250 ms

    temp=10000/((21*temp+6*temp/10)/100-72)-20; //linearize and convert in mm
    value=temp; // displays distance in cm (format:xx.x)
  }
}