--
-- SharpTest v0.1 (ASkr 10/2009)
-- 
-- Just some demonstrations about Sharp distance sensors
--


------------------------------------------------------------------------------------------------------------
-- uWait()
--
-- Waits (blocks) for ~<c> us.
-- Minimum value is ~80us
-- Use this while in a nxt.DisableNXT(1) <-> nxt.DisableNXT(0) loop!
-----------------------------------------------------------------------------------------------------------
function uWait(c)
	local i
	c=c*10
	c=(c/24)-32
	for i=1,c do
	end
end



------------------------------------------------------------------------------------------------------------
-- utilWait()
--
-- Waits (blocks) for <tim> ms.
-----------------------------------------------------------------------------------------------------------
function utilWait(tim)
	local stim=nxt.TimerRead()
	repeat
	until nxt.TimerRead() > stim+tim
end



function s(port,count)
	local i
	local j
	local nIGS=nxt.InputGetStatus
	local nTR=nxt.TimerRead

	
	nxt.OutputSetSpeed(3,0x20,100)	

	while nxt.ButtonRead() == 0 do
	end

	local toffs=nTR()
	

	for i=0,count-1 do
		j=nIGS(port)
--		print(i,nTR()-toffs,j)
		print(j)
	end

	nxt.OutputSetSpeed(3,0,0)	

end