[DjScribbles]

In the code you posted here, you only read the distance once, then constantly send it to the driver station, this could cause some odd behavior (assuming the sonar has a bit of turn on transient).

Also, if you are using iterative robot, I would suggest using it's Disabled/Autonomous/Teleop functions, instead of the ones used by simple robot (which may not even work). This code should do what you want to do, and uses IterativeRobot functions:

#include "WPILib.h"
#include "AnalogRangeFinder.h"


typedef enum
{
    ANALOG_CHANNEL_1_RANGE_FINDER = 1,
    ANALOG_CHANNEL_2_UNUSED,
    ANALOG_CHANNEL_3_UNUSED,
    ANALOG_CHANNEL_4_UNUSED,
    ANALOG_CHANNEL_5_UNUSED,
    ANALOG_CHANNEL_6_UNUSED,
    ANALOG_CHANNEL_7_UNUSED,
    ANALOG_CHANNEL_8_UNUSED,
    ANALOG_CHANNEL_9_UNUSED
} ANALOG_CHANNEL_TYPE;

class Robot2012 : public IterativeRobot
{
    AnalogRangeFinder rangeFinder;

    Timer timeInState;
    Timer timeSinceBoot;

    DriverStation *driverStation;
    DriverStationLCD *driverStationLCD;

    // Local variables to count the number of periodic loops performed
    UINT32 m_autoPeriodicLoops;
    UINT32 m_disabledPeriodicLoops;
    UINT32 m_telePeriodicLoops;

public:

    Robot2012(void):
    rangeFinder(ANALOG_CHANNEL_2_RANGE_FINDER),
    timeInState(),
    timeSinceBoot()
    {
        printf("Robot2012 Constructor Started\n");

        // Acquire the Driver Station object
        driverStation = DriverStation::GetInstance();
        driverStationLCD = DriverStationLCD::GetInstance();

        // Initialize counters to record the number of loops completed in autonomous and teleop modes
        m_autoPeriodicLoops = 0;
        m_disabledPeriodicLoops = 0;
        m_telePeriodicLoops = 0;

        printf("Robot2012 Constructor Completed\n");
    }

    /********************************** Init Routines *************************************/

    void RobotInit(void)
    {
        // Actions which would be performed once (and only once) upon initialization of the
        // robot would be put here.
        timeSinceBoot.Start();
        printf("RobotInit() completed.\n");
    }

    void DisabledInit(void)
    {
        m_autoPeriodicLoops = 0;
        m_telePeriodicLoops = 0;
        m_disabledPeriodicLoops = 0;
        timeInState.Reset();
        timeInState.Start();
    }

    void AutonomousInit(void)
    {
        m_autoPeriodicLoops = 0;
        m_telePeriodicLoops = 0;
        m_disabledPeriodicLoops = 0;
        timeInState.Reset();
        timeInState.Start();
    }

    void TeleopInit(void)
    {
        m_autoPeriodicLoops = 0;
        m_telePeriodicLoops = 0;
        m_disabledPeriodicLoops = 0;
        timeInState.Reset();
        timeInState.Start();
    }

    /********************************** Periodic Routines *************************************/
    //These routines run at a determined rate (several times per second, but not sure how many ms each) as long as periodic and continuous routines don't take longer to execute than expected
    void DisabledPeriodic(void)
    {
        m_disabledPeriodicLoops++;
        driverStationLCD->PrintfLine((DriverStationLCD::Line) 4, "Range to target: %f", rangeFinder.GetRangeInches());
    }

    void AutonomousPeriodic(void)
    {
        m_autoPeriodicLoops++;
        driverStationLCD->PrintfLine((DriverStationLCD::Line) 4, "Range to target: %f", rangeFinder.GetRangeInches());
    }

    void TeleopPeriodic(void)
    {
        // increment the number of teleop periodic loops completed
        m_telePeriodicLoops++;
        driverStationLCD->PrintfLine((DriverStationLCD::Line) 4, "Range to target: %f", rangeFinder.GetRangeInches());
    }

    /********************************** Continuous Routines *************************************/
    //These run more frequently than Periodic loops, and should only contain work that requires frequent execution (and doesn't take long to complete)
    //Uncomment these if needed
//    void DisabledContinuous(void)
//     {
//     }
//
//     void AutonomousContinuous(void)
//     {
//     }
//     void TeleopContinuous(void)
//     {
//     }
};

START_ROBOT_CLASS( Robot2012);