There is more than one kind of sharp sensor, heres a quick list of whats offered at acroname.com....
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Sharp GP2D02 IR Ranger
Very popular 8-bit IR Ranger with range of about 3"-30".
Sharp GP2D120 IR Sensor
Reports distance as an analog voltage with a range of 1.5" to 12".
Sharp GP2D05 IR ranger
A high precision object sensor.
Sharp GP2D12 Detector Package
Reports distance as an analog voltage with a range of 4"-30".
Sharp GP2D15 Detector Package
Digital version of the popular Sharp IR detector preset to 10".
Sharp GP2Y0D02YK IR Sensor
Digital version of the popular Sharp IR detector preset to 31.5".
Sharp GP2Y0A02YK IR Sensor
Reports distance as an analog voltage with a range of ~8"-60".
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We used GP2D12's on 1083's robot in 2004 for autonomous, we would drive at the wall, use the sensors to triangulate us following the wall, then encoders would track how far we had traveled so the bot would stop and punch the ball off the Tee. They worked pretty flawlessly once we got the numbers right and shielded them enough from the surrounding light.